Hello Dyn, thanks for your question, and our condolences. If you wish to drive the car, you would have to transfer the ownership from your father to yourself in person at:
LTA Customer Service Centre
10 Sin Ming Drive
You would have to submit a copy of your father's death certificate, Grant of Letter of Administration or Grant of Probate, the original motor insurance certificate, original vehicle inspection certificate, and your NRIC for the transfer to take place.
For more information, you may visit the LTA website: https://www.onemotoring.com.sg/content/onemotoring/home/selling-deregistering/transfer-ownership.html#deceased_owner_transfer