Hi there ~
It is not uncommon to have sleep problems after bereavement. I am sorry for your loss. However, if it is affecting your daily life or activities of daily living, including work or family or relationships, it would require you to take treatment. Distraction, relaxation exercises and physical activity helps with destressing. You may also be suffering from depression
if these symptoms that you mention were present from even before the death of your father, and this could have just gotten exacerbated. Sedatives might help with difficulty sleeping, panicking and racing heart. I recommend that you see a qualified psychiatrist
to seek help.