4.135 O You who believe! stand out firmly for justice, as witnesses to Allah, even as against yourselves, or your parents, or your kin, and
whether it be (against) rich or poor: for Allah can best protect both.
Follow not the lusts (of your hearts), lest You swerve, and if You
distort (justice) or decline to do justice, verily Allah is
well-acquainted with all that You do.
5.8 O ye who believe! stand out firmly for Allah, as witnesses to fair dealing, and let not the hatred of others to you make you swerve to
wrong and depart from justice. Be just: that is next to piety: and
fear Allah. For Allah is well-acquainted with all that ye do.
Islam does command us to enjoin good and prohibit bad but the use of the word 'force' sounds off putting . I don't understand how it is even possible to force someone to do things and when it comes to Islam then what is the use of 'forcing' a person who does not believe , but if he is a believer in Islam , just a little lazy to not follow things or innovate new things in religion then we do have examples of Sahabas who did strongly voiced their opposition and were very strict with regards to fundamental aspects of Islam.
I roughly remember about narrations which report that the Sahabas and prophet pbuh would boycott the person who refrained from coming to Jihad.
Also there are some authentic reports of Hazrat Umar RA ordering lashes to his own son for drinking Alcohol which lead to his death.
But in your case you are a subordinate to your parents and hence need to respect your parents and pray for their guidance , forcing them to pray can also have bad effects on you and your fathers perception towards Islam.