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Praise be to Allah.
What you did of taking money from your father without his consent is not permissible, because the Prophet (blessings and peace of Allah be upon him) said: “It is not permissible to take the wealth of a Muslim except with his consent.” Narrated by Abu Ya‘la and others; classed as saheeh by al-Albaani in Saheeh al-Jaami‘ (7662).
The son has no right to take anything from his father’s wealth beyond what the father is reasonably required to spend on his maintenance, if the father is obliged to spend on his son’s maintenance because the son is poor.
The scholar Ibn Muflih said in al-Furoo‘ (5/595): He – that is, the father – is obliged to spend on his son in reasonable terms for what he needs of maintenance, or some of it, and to provide clothing and shelter, if his children are poor. End quote.
Now you have two choices:
The scholars of the Permanent Committee for Iftaa’ were asked about the son taking from his father’s wealth more than the maintenance that the father allowed him to take as needed.
They replied: You must return what you saved of money that you took from your father for maintenance, because he allowed you to take according to household needs, but anything surplus that is not included in the permission he gave, so it is not permissible for you.
End quote from Fataawa al-Lajnah ad-Daa’imah li’l-Iftaa’ (21/175)
And Allah knows best.