All perfect praise be to Allah, The Lord of the Worlds. I testify that there is none worthy of worship except Allah, and that Muhammad is His slave and Messenger.
Stealing from one's father or anyone else, is not permissible. Allah does not accept such money as charity since the money is unlawful. The Prophet said: “Allah is Tayyib (which implies pure) and does not accept except that which is pure.” [Muslim]
Therefore, everyone who has stolen something from anyone has to give it back to him, not in charity. If he gives it in charity, it would not be accepted.
If he knows the person from whom he has stolen, then he has to return it to him or make its compensation. If he does not know that person, then he has to give it in charity intending the reward for the real owner of the money.
Allah knows best.