The book that your father got from USA yesterday I want it for few days to read.
The pronoun used “it” which refer to book - is it in correct position?
You could simply write the sentence as - I want the book that your father got from USA for a few days to read. This eliminates the need to insert a pronoun in the above sentence.
However, if you insist on writing it as two separate sentences, it can be done in the following way - Your father brought a book from USA yesterday. I want it for a few days to read. In this case it will be understood that the pronoun 'it' has appeared for the book. And yes, its position in the sentence is also correct.