Zicco,
Don't worry about any trouble with the elders. As another poster stated, they will only counsel you on why you should be chapperoned. Probably nothing new that you have not allready heard.
As for the father, he was probably angry at the moment and did what he thought he should. Don't forget fathers are usually very protective of their daughters.
In my opinion, you did what a true gentleman would do. You offered a lady (regardles of age, I will call her a lady) a ride home. Per your text, that was your only thought and objective. It is a shame that people are not trusted more than they are.
I once offered two young sisters a ride home and was repremanded severely for it. It was in the middle winter and snowing. The sisters (both spiritually and actual sisters) were 17 and 19. When I asked the elders if it was wrong during a snow storm to offer a woman a ride they responded "YES, you are wrong !"
Jesus told us to love everyone and by giving some one a ride, no matter what the honorable reason is, that is love towards your neighbor.
Respectfully....Quixote