What is the ruling on taking compensation from the insurance company in the event that the cause of the accident was the son who does not hold a driving license, but the father was put in his place for fear of the son being imprisoned, knowing that the insurance does not cover the son in this case?

If the insurance company is not obligated to pay compensation because the driver does not have a license, then it is not permissible to assist in fraud and deception to obtain compensation from it. You have the choice between forgiving the one who caused the accident, or demanding your right directly from him.