they will try to seize the car unless you can prove that it is owned by someone else...
owned being the legal owner even if your going to predate the receipt for years ago any court will look at it in a suspicious way... espescially if it was at any stage registered to your father...
they can clamp it at any time and then get it lifted/towed ... no matter where its found ..

best bet .. contact the council explain the situation and ask for proof they tried to contact you about the outstanding ammount as you had no idea about it .. they should have court letters etc saying they are taking you to court over the debt...
then go to the c.a.b. as soon as possible... they can advise you very well in these situations ..