I took a bribe from my dad
What do you mean by that? What kind of bribe?
He just offered to pay me to help him out basically.
It is nice to get money for your services. People don't normally talk about being bribed to prevent any legal issues.
I'm not worried about legal issues, I know I wasn't doing anything wrong so I'm okay.
Generally, accepting a bribe is illegal. I'm not sure that what you're describing meets that definition, so I think you're probably okay.