Is there a particular dua for a parent that passed away?


Salam alaikum! Is there a particular dua for a parent that passed away? My father died few years ago and I don't know what to do so that Allah grant him jannah.. Is there a particular moment to do so? Or a particular day? Something particular to say? I'm really desperate to do something but i don't know what. And do you know if the dua reaches the person? Can they hear it ? Or know that someone on earth is praying for them ? Thank you for your replies

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