In this case, 보다 does not mean "to see", but it rather means "to try". 물어보다 is used as one complete verb, meaning "to try to ask", which is interesting, because there is a same verb in Japanese language with exactly the same meaning.

물어보다 is the verb and it also means "to ask". I think it comes from the construction 물(다) + -어 보다, which means "try to ask", but it can just easily be used to mean "to ask". And -았 just makes it past tense. So I think the translation is: My father asked me where I went.