Audio problem: When Luke says, "Now all we gotta do is find this Yoda, if he even exists," if you look closely, his mouth never moves.
Star Wars: Episode V - The Empire Strikes Back (1980)
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Directed by: Irvin Kershner
Starring: Harrison Ford, Frank Oz, James Earl Jones, Mark Hamill, Alec Guinness, Carrie Fisher, Anthony Daniels, Billy Dee Williams, Kenny Baker, Peter Mayhew, David Prowse
Genres: Action, Adventure, Fantasy, Sci-fi, Star Wars, Thriller
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Trivia: When Billy Dee Williams (Lando) picked up his daughter from elementary school after the film's release, kids would run up to Williams and say "You betrayed Han Solo!"
Question: Was it always Lucas' original plan to have Darth Vader be Luke's father?
Answer: Yes, however, he didn't want anyone to KNOW about it. In fact, the original script said "'Obi Wan never told you what happened to your father.' 'He told me enough... he told me YOU killed him!' 'No, Obi-Wan killed your father'" Even Hamill was only told the real line just before shooting, so his reaction is somewhat natural.
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Answer: The short, short answer to this is "Yes... from a certain point of view." The long answer is complicated and depends completely on what timeframe you mean by "always." If you're going back all the way to the early rough drafts of the early-mid 70s (which actually resemble Episode I more than they do the Star Wars of 1977), you'll find there's a cyborg father figure protagonist that makes a heroic sacrifice, and then another character that is a "black knight" villain that eventually turns to the side of good near the end. Just to make things more complicated, there is yet another character, a villain by the name of "Darth Vader" that is a human Imperial officer like Grand Moff Tarkin. It may be a stretch to count all that as "Darth Vader was always the father" but the pieces were all there, at least.
TonyPH
(1) Now the earliest explicit mention on any documented material that Darth Vader is Luke's father comes from notes Lucas made outlining the general story of the trilogy and its place in the larger Star Wars saga. These were found in the archives for The Empire Strikes Back, but they are undated and we don't know if they were written before Star Wars (1977) and carried forward, or if they were written afterward. These were found fairly recently (made public in 2010) and as far as I know Lucas has never commented publicly about them.
TonyPH
(3) One thing we know, at least, is that Lucas had come up with the idea of Darth Vader the father before starting work on The Empire Strikes Back. Something incredibly odd, though, is that the first draft written by Leigh Brackett does not feature the twist (and in fact introduces Anakin himself as a ghost); for a long time many fans took this as proof that Lucas hadn't thought of the idea at all by then, but after the series outline was discovered it was made apparent that Lucas simply hadn't told Brackett for some reason. Perhaps he wasn't sure yet that he wanted to go through with it, or maybe at that point he was thinking of revealing it in the third film. Either way, Lucas would write the second draft himself, and that's where the twist first appears in script form.
TonyPH
(2) Something that must be understood about Star Wars (1977) is that it was an ALTERNATIVE to his original plans of a saga. By then he didn't think it was realistic that he would be able to make a long series of many movies, so he came up with a "Plan B": he crammed the general story of the trilogy into one movie. So we know that when Star Wars (1977) was filming, Darth Vader was NOT Luke's father, because this one movie was IT, that was the whole story. But what we DON'T know, is whether that means Lucas had abandoned the idea of Vader being the father in order to simplify the story, or if Lucas simply hadn't thought of that at all just yet.
TonyPH
(2, cont.) On a side note, you can tell by watching Star Wars (1977) how it has condensed the story of the trilogy. The middle portion has the characters trying to escape capture from the Empire while one of them loses a duel with Darth Vader (like The Empire Strikes Back) and the third act is a final battle against the Death Star above a forest moon (like Return of the Jedi). The first act features a member of royalty on the run while a couple of protagonists find the main hero on a desert planet, resembling the original drafts and by extension Star Wars: Episode I. Because of this we've arguably never actually had a "pure" first chapter to the original trilogy, even though Lucas eventually had the film serve this purpose anyway.
TonyPH