Dealing with bitterness?

I am struggling with jelousy because I can't seem to break free from my past. I want to achive so many things but I have been held back by the choice I made when I was younger to marry somone who was bad for me and a terrible father. I have robbed myself of opportunities that I totaly regret. I am slowly pulling my self out of the pit but I when I see the support other people get when their fulfilling their own dreams, I think about how I could be so much further if I would have had a supportive family instead of the dysfuctional one that I do. My family has a history of people who have mental illnesses such as Bipolar and depression. My mom has problems and and left us when we were kids. Then my step mom was cold. although I don't blame them for the illness, I can't help but feel jelous of close knit families, what can I do to stop this so I won't be ruined for the rest of my life?