My dad is a non-denominational Protestant and he can no longer drive. Going to church is important to him, though he knows that I cannot attend with him; but if allowed I will drive him and pick him up there on Sunday. Am I allowed under Church teaching to do this?
Yes, of course. And if your father needed assistance getting around at the church, you could attend the services with him to assist him. However, if you feel uncomfortable with this, you could also call his church and ask the pastor if the church has a ride-sharing ministry for shuttling the elderly and the disabled to and from church.