"I sat up quick and told him
I’d just been resting
we both knew then
he’d never rest again"
Yes it is very cool how you used "rest" in those two stanzas.
"I'd just been resting", putting your guard down in the middle of the road, in order to become vulnerable so your father could notice you. The him never resting again took rest to a new meaning; of never letting you out of his sight, essentially.