Can I ask my father for reimbursement for gas?

Yes, your father can pay for gas. This is not complicated as long as he doesn't mind doing it.

I'm with FF ..my Mom offers to pay when we pull in. She also offers to pay the insurance for her sweet ride that is now mine as she can;t drive.. maybe just ask him if will?

In deference to Pam and FF, I should clarify. They are correct for most cases. My DPOA is very broad and gives me control of the finances now as well as later when the folks are incompetent. if you have a POA have an attorney review it with you. There can be important differences from one POA to the other.

If you are POA you can use his money for his care which in my opinion would include gas money to visit and care for him. Keep detailed records. My folks are 600 miles away. I use their money for my travel expenses. I don't use their money for anything personal or combine their money with mine.

POA's are not allowed by law to pay themselves, it is a conflict of interest. Legally, you need to work this out with an attorney and a contract.

Have you ever pulled into a gas station while Dad was in the car? That usually triggered my parents to hand me their credit card to fill up the tank. Maybe comment about the price of gas went up. Dad might still think gasoline is still 35 cents a gallon :P

Even if you have Power of Attorney, unless somewhere in the legalese it says you can be paid for work while being Power of Attorney can you be paid. Driving Dad to appointments isn't part of being a POA.