Here's a tip from the person who probably has the most experience on this forum; don't do stuff like this in public. Getting your sick sucked is great, I'm all about it, but control your urges until its a safe time. I'm going to assume you werent in a bathroom, which is disturbing to me to say the least that you'd demean your gf that much.
If I were you, I'd apologize to her dad face-to-face, and while that may be terrifying, it'll show you're an honorable person. Tell him that you understand if you don't want him to allow you to see his daughter anymore.
And who cares of your mothers talk. What's your mom goin to do, ground you for having enough swag to get a girl into your pants? forget that. Tell your mom that it's natural, that at your age, there was a guy 3 knuckles deep in her coochie.
Note, disregard the sarcasm on some points, I would splurge out a long response, but I'm in bed on my iPhone.