That certainly isn't something any classical Latin author would write (that's just not how they use the imperative) - they would write something like pater, te requiro ut audias me or possibly pater, te requiro me audire (though I'm not sure if Latin actually uses the infinitive in the way English does in that case). But it's probably comprehensible bad Latin.

Then again, knowing nothing about the context, I can't be entirely sure on that.