Definitely not your imagination -- he may not have outright said that you had to do what he wanted before he would let you leave, but I think his actions said it just as clearly as words would have. No wonder you felt that you couldn't go. God, I am so sorry that this happened to you. I can't emphasize enough that what he did was 100% wrong, and that he is the only one at fault here.

And as far as counseling, definitely seek it out in your own time. It's not something you have to do right away (or ever, if you don't want to). The resources are there, and you can use them whenever the time is right.