Is it permissible for my father, who participated in insurance for over twenty years and was ignorant of its prohibition, to take the money after reaching retirement age, or must he leave it and donate it?

Some insurance is cooperative and mutual, which is permissible if it fully adheres to the regulations of Sharia. And some insurance is commercial, which is forbidden by consensus. It is not permissible for the insured to benefit from a pension in the forbidden type except for the amount that is permissible within it, which is: his deducted installments, and the profits from investing these installments if they were invested in permissible ways, and what the state or company grants to the retiree. Anything other than that is not his right, and if he obtains it, he should spend it on charitable causes and general Muslim welfare.