Beautifully Broken

I was diagnosed with ADHD when I was 6 years old and I am now 35.  My life has not been the best for sure.  As a young child I had difficulty in school, home and in society period.  I had failed friendships and a very rough time with getting along with my parents because they did not know how to handle and ADHD.  Moving into my adult life it became harder for me to handle life due to the fact that my parents did not understand ADHD and didn't teach me the social skills I needed to survive.  So far I have failed in my marriage and failed in a relationship to a man that I love very much but I cause so much damage that all he wants to be is friends. I also have been subject to a custody battle due to my inability to act like a mature adult.  At the age of 35 I am now seeking more counseling (had many years of it as a child but none of the counslors taught me either) to be able to continue to raise my children.  I have 7 year old twin boys and a 3 year old.  I have been taking Adderall now for almost a year which has helped but I'm still lacking the social skills to survive.

So if anyone has any helpful hints on how to survive in this world I would much appreciate it.