My dad died about two years ago from cancer. About a month after I was sleeping and heard footsteps by the time I looked all I saw was his leg in a white pants and shoes and glowing. Also I dream him a lot. A friend of mine saw him across from the house we lived in as a family and said he looked worried. Why is he still here? And what can I do to allow him to rest in peace?

This could mean any number of things. What you saw could have been part of your dream. Your father is at rest and he does not need help crossing. If this is a spirit you are actually seeing, many out there masquerade as the dead. They do this in order to draw you into dangerous spiritual beliefs.