Should I get an attorney for an auto accident that I caused?

This is a very unfortunate set of circumstances, but yes, you should see a lawyer to get some advice.

First, it just may be that your auto liability insurance had not been properly cancelled. For example if you were entitled to notice (and I am NOT saying you were) and such notice was not sent it may still have been in place.

Second, if the father failed to pay for the policy he was obligated to pay for, he may have some liability if you bring him in.

Third, if there is no insurance and you have any assets that would be subject to levy after a judgment is taken against you, they can be taken. Some assets are not subject to attachment and are protected from claims of creditors. It pays to know what assets are and are not protected.

Fourth, if you have no assets a lawyer often can convince the other parties it makes no sense to sue as you have no assets and would only file bankruptcy.

Fifth, you may have to file bankruptcy and getting a lawyer's help in these circumstances makes sense. It also stops all the parties filing state court lawsuits against you cold.

Finally, driving an uninsured car is a criminal offense.  So advice makes sense.