Ask your Dad to "sell" the car to you.

Make a reciept up to give to your Dad for sale of the car to yourself. Registered keeper is not actually owner of the vehicle so you can still own the vehicle despite your Dad's name on the log book. If they attempt to remove the vehicle then it is considered unautorised taking as they cannot seize goods that do not belong to the person that owes the debt.

It'll take you 10 minutes on Excel.