you wrote: "So how would you deal with this? I want to say something to my dad about it but don't know what to say without coming off as an ungrateful child. I am kind of thankful that my mom came over because she did get my kitchen floor clean but I felt like he didn't trust that I could actually do it on my own."

hi jan, if it were me i'd pick a good time and just ask my parents if they didn't think you could do it on your own. and if their answer is yes, i'd ask them to elaborate. then i'd consider their reply and then offer them your opinion on the yearly house cleaning chore.
it sounds like they love you a lot and just want to be helpful. perhaps they meant well and you interpreted it as they not thinking you capable of doing it yourself. i find i often times read into something that isn't at all what was really meant. a good way to avoid a misunderstanding is to just ask.
hope this helps!
the other jan