I have been making payments on a car for over 2 years, but it is in my fathers name, can he just take it?

That depends.   Who owns the car?  Was it your car that your father was keeping in his name as a favor to you?  Or was it his car that he was allowing you to use as long as you paid the expenses related to it?  I assume that you will claim the former, and  your father will claim the latter.  How the case comes out depends on who the Court believes.