If you are sure that he had touched them, and did not take them
away, then just wait and see. Your dad probably put them back as he
is too embarrashed to talk to you about it.
He can talk to you about sex, in the name of education but a sex
toy may be a bit of a taboo. If he don’t bring it up, then both of
you can just pretend that it did not happen.
If you don’t have a secure place to keep those things, you
should consider getting rid of them.