Sounds like Costco.  That is the rule.  Not sure what you expect the employees to do.  They are not permitted to do that transaction.  If they did, they would have been in trouble.  (Or the terminal may not have permitted you to use your card anyway.)

You could have had your dad sit in the caf while you settled things.  Or come back.  Or not have planned such a tight timeline with a person who obviously cannot handle delays.

I think you owe the employees you were rude to an apology.