Is taking money from one's father without his knowledge, with the intention of repaying what was taken, considered theft?

If the father permits his son to take whatever he wishes from his money without restriction, then it is permissible for the son to take what is customarily taken without informing him each time. However, if the father restricts his permission to a specific situation or instance, then it is not permissible for the son to take anything without the father's permission and consent. Otherwise, it would be considered theft, necessitating repentance and the return of the money, unless the father pardons him.