How to properly set up my business

I currently own a freight brokerage, however my step father was driving for Swift as a company driver and was making nothing, so I decided to purchase a truck, set up a new LLC and run my step father under one of my closest carriers authorities.

Im trying to figure out how to set up contractually, the relationship between my new LLC, My step father, and the carrier who's authority we will run under. Ideally Im trying to avoid paying workers comp for my step father, (Would I have to anyway since he is family?). Would I set my father as an independent contractor,lease him the truck and then pay him extra to cover the lease payments? Can I just make him a employee since he is family?

Any other ideas?