The father’s duty to circumcise his son

Until when is the father’s obligation to circumcise his son? The commentary on the Mishnah of Maimonides states, “And if the child grows up and reaches the age of puberty, the obligation is removed from every man, and he is obligated to circumcise himself immediately.”
It can be said that the reason for removing the obligation of the father and the court stems from the fact that it is impossible for the father and son to be commanded when the act of obligation depends on the will of the son?
thanks.