My grandpa was 72 and about 4 months passed the date his doctor said he'd die from cancer.
The whole time though things were decent, he was losing his bodily functions but my dad works in a hospital and I was there so we helped him with all that stuff and it wasn't a big problem. (we essentially moved in with him his last 4-6 months).
However on his last day my grandpa woke up wailing in pain, you could tell he was in total agony, my dad just kept giving him more and more and more liquid morphine and my grandpa kept taking it until he essentially fell asleep/passed out and he never woke up. So my dad basically euthanized him rather than putting him through continuous unbearable pain until he was most certainly going to die anyway that same day.
Morally, I've always been proud of what my dad did. Hopefully in the same circumstances my son does the same for me.
I would not call what your dad did euthanasia. He allowed your grandpa to die naturally and pain free. It's good hospice care.
eu·tha·na·sianoun /ˌyo͞oTHəˈnāZHə/ 
1.The painless killing of a patient suffering from an incurable and painful disease or in an irreversible coma
I'm not providing the definition to be an ass, but I would say if you read the definition that that's what my father did.
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