How can we protect our kids? or ourselves?

How can we protect our kids? or ourselves? I have asked myself this since I was a childhood victim. This is for all parents and children. I have been paranoid since my daughter was born in 1992. I have tried her whole life to make sure she would never be hurt like I was, but I failed! I was a victim at a very young age by a childhood friends father, he unfortunately got away with it due to technicalities, and I was one out of 5 that he tortured. I then at 14 , was raped by my brothers friend. There was no charges put against him.
However, I held in my pain and didn't care about myself anymore, until I had my daughter at 16. My eyes were wide opened, I think I have somewhat ruined her childhood. I would let her friends stay over here but she was not aloud to go inside or stay the night at anyone elses house. Besides with family. Big Mistake! I thought I didn't have to worry about family. Until my daughter's 15th birthday, last November. She was going shopping with my husband's mother, so they wanted her to stay the night, she did. We received a phone call the next morning that her husband climbed through the bedroom window and tried to have sex with my daughter. I am proud of my daughter at how quick she reacted to keep from being raped, but I couldn't protect her. I should of never let her stayed the night. Here I am not trusting her to be with anyone but family, but it was the family I couldn't trust.