Ummm, sorry, your dad has a serious problem. You did just fine with the dog that you returned to its owners, much more than most would have done. Just ask the owners! I would have been thrilled with the way it turned out, if that had been my dog that jumped into your car.
In reality, the "touching" was done by the dog, not you, when it jumped into your car. You should probably do some research on the concept of karma, if you actually buy into your dad's concept.
Here's hoping your puppy does not have any brain damage. You do need to come up with appropriate confinement if she recovers, though. And it sounds like you need to deal with some issues related to your father.