Well, I just popped Ds on and fed wherever I was and with whomever I was with...If I was in someone elses house, I'd usually say ' do you mind if I give him a feed' or ' you don't mind if I feed him do you?' and I was never refused...
I've been the same with Dd this time too and intend to continue as I did with Ds until she is at least 18 months...
As for feeding in front of my dad, I've never had a problem with it and dad has never batted an eyelid as far as I know! Dd is 15 months now and so nosey that I frequently end up sitting in my parents lounge, breast bared with baby having a chatter with my mum! I fed her in front of my uncle too...Dd was only a few days old and I think we had a big joke about my huge hairy nipple - which was of course Dd's head! because that was absolutely, all you could see!
The only time I've gone to a different area to feed Dd is when my Dp's uncle is there as he has special needs and is in his 60's, he's sometimes unpredictible and I'd hate to embarrass him.
I know friends who have gone off to their bedroom to feed(many actually), but that was more in the 80's when I think there was a totally different mindset towards breast feeding...these days, I think it's mostly accepted and the more people that see it happening, the more easily it will be accepted by everyone IMO.