Yuriel didn't know what to do, not because the man in front of him was his father but because he was fighting the Hand, the highest figure on the Blood Temple. He did only as ordered but still, was his mistake.
Zelhart noticed Yuriel confused and thought he was sorry because he didn't know he was fighting his own father. What made Zelhart laugh, having fun even though hundreds of his troops were killed.
Moments later Yuriel sent a signal for his brother from the ground, who came back in shock, seeing the enemy they saw on the ground now so close to his brother. But Yuriel explained who this man was quick.
Again, the same reaction as Yuriel but this time Isaac asked sorry for disturbing the Hand, not mentioned the "father" part.
"We were only following orders from the King, we wouldn't attack if we knew it was the Hand of God."