"My father is teaching me to cook."
Translation:Mi padre me enseña a cocinar.
Many Spanish verbs need prepositions where there is no preposition in English, and vice versa. (Or the preposition isn't a direct translation of the English one.) You may find this page helpful. http://laspreposiciones.com/verbs-and-prepositions.html
It has to do with whether the object or direct object of the sentence is a person or an object.