I'm really sorry to hear that your father died. I don't have any inspirational words, just empathy. I lost my mother a long time ago and my father now seems to be on his way out - he's got heart and lung disease and breathes out of a portable oxygen tank that accompanies him at all times.
I guess you can say that no one you care about can ever really be replaced, but a parent really really can't be. It sounds like your father was a wonderful person and that you appreciated him and are left with good memories, and I guess that's the best it can be. But anyway, my sympathies are with you.