[proofplan]
The proof is a direct verification of the two inverse identities. We take the inverse morphism $f^{-1}$ in $\mathcal C$, apply the functor $F$ to the equations defining it, and use the functorial preservation of identities and composition. The resulting equations say exactly that $F(f^{-1})$ is a two-sided inverse of $F(f)$ in $\mathcal D$.
[/proofplan]
[step:Apply the functor to the inverse identities in $\mathcal C$]
Let $g: Y \to X$ denote the inverse morphism $f^{-1}$ in $\mathcal C$. Since $f$ is an isomorphism, the following identities hold in $\mathcal C$:
\begin{align*}
g \circ f &= \operatorname{id}_X, &
f \circ g &= \operatorname{id}_Y.
\end{align*}
Because $F: \mathcal C \to \mathcal D$ is a covariant functor, it sends objects of $\mathcal C$ to objects of $\mathcal D$, sends each morphism $h: A \to B$ in $\mathcal C$ to a morphism $F(h): F(A) \to F(B)$ in $\mathcal D$, preserves identity morphisms, and preserves composition. Applying $F$ to the two displayed identities gives
\begin{align*}
F(g \circ f) &= F(\operatorname{id}_X), &
F(f \circ g) &= F(\operatorname{id}_Y).
\end{align*}
Using preservation of composition and identities, this becomes
\begin{align*}
F(g) \circ F(f) &= \operatorname{id}_{F(X)}, &
F(f) \circ F(g) &= \operatorname{id}_{F(Y)}.
\end{align*}
[/step]
[step:Identify $F(f^{-1})$ as the inverse of $F(f)$]
The morphism $F(f): F(X) \to F(Y)$ has the morphism $F(g): F(Y) \to F(X)$ as both a left inverse and a right inverse, because
\begin{align*}
F(g) \circ F(f) &= \operatorname{id}_{F(X)}, &
F(f) \circ F(g) &= \operatorname{id}_{F(Y)}.
\end{align*}
Therefore $F(f)$ is an isomorphism in $\mathcal D$. Since $g = f^{-1}$ by definition, its inverse is precisely
\begin{align*}
F(g) = F(f^{-1}).
\end{align*}
This proves the theorem.
[/step]