Instead of laying in her bed, can this bedtime routine be transfered to somewhere else, such as the living room couch? Start earlier, and read a book or whatever. Maybe have Dad say he isn't feeling well or he's too tired (preferably use the same reason this whole thing started with), and he wants to stay laying on the couch. But we can still do the bedtime stuff. We'll just have "Goodnight" here. Then they can read the book or whatever until bed time, and then she goes off by herself. Then, she's getting what she wants, and you're getting more control over it, and it can't stretch out for a long time. Over time, you can shorten the amount of time this takes so it's not a lengthy ritual. Make her bedtime the absolute end. "It's bedtime!" Scoot her off to bed. No stretching the time out.
If she complains about not being tucked in, keep a blanket throw nearby, and wrap it snuggly around her, and tell her the same things you do when you tuck her in. ("Night night, Dear! Sweet dreams. See you in the morning.") So she gets a portable tuck in. Then send her on her way to bed with the blanket around her. If she's into dolls or stuffed animals, give the doll a big hug and kiss, and tell the doll to keep her company for you.
The following night you can make a big deal out of how grown up she was the night before, and how proud you are of her. She must be getting too big for that baby stuff. "Let's do it again tonight!" (Besides, Dad still isn't feeling well.)
Good luck!