Depends how old you are I spose. Ideally, you should have a chat with him, tell him how you feel. Say you want to spend time with friends first (rather than boys, dads can be a pain!) then after a while talk to him again. Tell him where you're going, what you'll be doing...etc. Text him when you're out, tell him what's happening. Then tell him stuff when you get back.
If this is not possible then maybe talk to another relative? Or you could ask your dad out with you, just to a pub or something, get him to realise you're ready for the big bad world!