It's difficult to see how you can be the real owner of the car if the finance was in your father's name, unless you and/or he committed fraud to get the finance.
As Kathyan says it will have to be paid out of your father's estate. If there isn't enough money there I suspect the car will have to be sold to provide it as the finance company will regard it as his. Depends how legitimate the loan really was.
This depends on what you mean by finance? Do you mean credit or HP? They're very different.
If your father took out credit (i.e. a loan) to buy the car then, technically, this doesn't need to be paid back by you if your father has passed away.
If it is an HP agreement then you don't own the car until the finance is paid for and the finance company can repossess the vehicle.