So your father didn't take RMDs while he was alive? That counts as a missed RMD.
But you can still save yourself from the big penalties. You just got access to the account and - in addition to the RMD that you are required to take - you can take all of the ones that your father was required to take.
You have to do this within two years of when they were supposed to be taken but since you just took possession of the account then as long as you do it soon and file form 5329 with your return you should be able to get away with only a 10% penalty on the amounts that he should have taken.
Here are the IRS FAQ on retirement plan withdrawals. And here is form 5329 so you can take a look at it.
@mberelake4
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