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I'm thinking he paid you maybe as much per hour as he would have paid a skilled laborer working for him -- a heavy equipment operator, something like that, or maybe the hourly fee for his accountant. Don't downplay what you did. It was something he couldn't do, and a set of reliable figures is going to save him from financial embarassment. You were worth what he paid; sorry, thanks to the wonderful educational system in America, the skills you have are not that common, at least among the people he knows.
So, no, you were not underpaid. And I don't think you have to worry about owing him a favor. He's happy with what you did, and with what he paid for it.
But if it just feels weird to take the money, because you don't want to be in that kind of relationship with him, I'd somewhat agree with ryfo; arrange to go out with him and your brother, and buy a pitcher (or two) and a pizza. If he asks why, tell him you think he overpaid, in a good-old-boy sort of way.
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