My dad doesnt agree w/ me living with my mom what do i do?

My parents have been divorsed since i was 5 and have had shared custudy of me since than. I'v been wanting to live with my mom for years but never had the courage to tell my dad for fear of hurting him till a year ago. When I first told him he was very calm and understanding about it and I had felt alote of realife by telling him but then he started asking me what was so wrong with his house that I would want to leave, I told him nothing was wrong with it, I felt like I never see my mother and I cant always go over to my friends and that I felt isolated from home(town). Than he said I was selfish because he paid for my dentist bills, food, part of my education, health bill, clothes, and that I was selfish for not thinking of his or my stepmom's feelings. I told him that I had thought of thier feelings but I had held back from telling him because I was afraid of disipointing him and hurting him than he said he was hurt and he said I had to be 18 to be able to decide I told him that i was old enough to decide and he didnt have a choice in this matter. After that I had to go to a counciler to see who was right dad went first than I went after that she told me that if i decided to live with my mom i would be hurting my dad. when i told my mom she was very upset and said that they never even considered my feelings which was true we went to a lawyer and he said i was old enough to decide. I still want to live with my mom but now I feel guily for it and I feel like im betraying him because next month moms gona try to get custudy of me and im not saying a thing about it to him and he thinks its all in the past im 15 now i need advice. Should I feel guily? What should I do?