How can i improve my relationship with my father?

Since entering the teenage years my relationship with my dad has gone downhill, we live in the same house with my mum and sister. But i find it very difficult to get along with him for a few reasons: My mum is holding down a full time very well payed job yet she also does the majority of the cooking, washing, ironing, everything. Whilst my dad is self employed, working from home, trying to set up a business that i know will not take off because of the nature of it and him as a person. I also find it hard because of his personality, i'm a very introvert person who likes to talk straight to the point and i'm very down to earth, whereas he is an extrovert, devout christian (also something i have struggled with) and can often be very patronising when he lectures me on things which is quite often. It's like trying to be friends with somebody that in normal cirstances you would hate or stay well away from. He went to boarding school so maybe he doesnt know what a dad should be like. Help.