Hi Jiamu,

This is tricky for learners.

I you want to say -

I missed my father

in the sense that you arrived too late to see him, you would probably use a verb like 'rater'.

J'ai raté mon avion = I missed my plane

but to miss someone ( emotionally) you use manquer but it has a strange construction.

Take a look at the following Kwiziq lesson -

https://french.kwiziq.com/revision/grammar/manquer-a-means-to-miss-someone-something-emotionally

Mon père me manque = I miss my father 

Je manque à mon père = My father misses me

I hope this helps!