This isn't a straightforward "intimidating" person. If I met an intimidating person who has a very strong opposite opinion from me (and we're both adults), I can very easily look at my options of removing myself from the situation or dealing with it in other ways.

There are a couple of reasons why this is different:

- This person has influence and authority over you.  
- You have to be there for 3 hours and can't remove yourself from the situation.  
- They are not behaving in a way appropriate at all for an authority figure.  

As such, you do not need to get accustomed to dealing with this. It is not normal or appropriate. 

Remember, your parents are (I assume) paying him to perform a service. They pay him, he teaches you. If he is doing a bad job, and his service is not working for you, then it's perfectly okay to find someone else. There is no obligation to stick with one person. So you can tell your parents that this isn't working for you and you want to try someone else. 

How much you tell your parents is up to you. You can say to them what you've said here, if you feel comfortable doing so. Or you can simply say that his tutoring style doesn't suit you and you want to find someone else. 

And this skill - saying "no" to people - is a very good one to practice. There will be many many times when someone offers you a product/service and you try it and say no. This is a good thing to get used to doing.