What Am I Legally Obligated To Do If My Parent Passes Away?

Asking in advance as my father has terrible health. I recently lost a family member who had no life insurance, no savings, and his family is having a hard time planning a funeral.
My dad had a life insurance policy but my mom canceled it when she divorced him. He has no savings, no policy, and I’m certain mountains of debt. My sibling and I have thought to get life insurance on our dad but he has no medical insurance so we cannot get him to a doctor for an assessment. Ultimately, we both have our own family lives and saving for his funeral just isn’t possible currently and life insurance would be very expensive at this stage.
What am I legally obligated to do at his passing? Do I have to have him buried? Is that my responsibility? I feel that sounds harsh but he had so many opportunity’s to continue life insurance, save money, and he never took it. He has no plans and I would throw a service at my own home or somewhere small, but a full funeral is just not possible.
This is in MO if it helps. Thank you.
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