My dad had a voluntary departure in 2011, do I file the I-130?

Perhaps, but more information is needed to decide whether it is in your family's best interest at this time. Did your dad verify his voluntary departure to Mexico at a U. S. Embassy or Consulate? Is he still in Mexico? How long has he lived in Mexico? If not, then the voluntary departure order likely converted into a final deportation order. I recommend that your family schedule an appointment with a competent and experienced immigration attorney, who can spend enough time to investigate and discuss all of the issues. This way, the best decision can be made. Good luck.