I'm not sure what happened between you and your dad but I had a bad relationship with my dad due to him yelling at me when I didn't agree with him. Pretty simple, he was just a mean asshole sometimes or he would ignore me when I came over and that made me rage at him. I would have had nothing to do with him except that my mom was with him and I love her very much and like to talk to her so I kept him in my life just because he lived in the same house. I got married and my wife really liked him; he was quite funny now and again. Anyway, he softened with age and we had some really fun times near the end of his life even though he wasn't very mobile. It was good for me because I got to forgive him over time and even though he never directly apologized for his behavior he did understand the problems he caused me. He is dead now and I have no regrets, I miss him.
There is nothing like establishing an equal relationship with your parents. My mother and I had problems too; she yelled a lot and hit me (He hit me too). We had a lot of really fun times though so I didn't feel as mad at her as I did my dad. Once I established an equal relationship with my mom (it took a few years) we got along great. She would still try to take the parental role with me but I just kept re-establishing my boundaries.
There is nothing like establishing an equal relationship with your parents. My mother and I had problems too; she yelled a lot and hit me (He hit me too). We had a lot of really fun times though so I didn't feel as mad at her as I did my dad. Once I established an equal relationship with my mom (it took a few years) we got along great. She would still try to take the parental role with me but I just kept re-establishing my boundaries.