Yes. Your father will need to file an insurance claim unless he plans to pay out of pocket for the damages to the other vehicles and not be compensated for his vehicle. Filing a claim is the only way to be compensated by insurance.
Keep in mind that the accident can impact both yours and your father's insurance rates going forward for up to five years. It will impact your father's rates because his insurance policy will be the one paying the claim. It will impact you because you were the driver. Below you'll find more information about filing claims.
Good luck and if you have any questions, don't hesitate to ask