Can you heal from psychological traumas like rape?

i wont go into my childhood on here but yes a child can heal and get over almost anything some can do it on their own others need counseling. i am now the father of 5 wonderful children and they are all well rounded loving caring and no i never repeated the abuse i suffered at the hands of my parents and i rarely even think about my childhood the only time it comes to mind is when i punish my children because i don't want to raise my children in anyway that resembles the horrors i grew up in.