How do you discipline your toddler?And at what age did you start?

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Hello all. I am a proud mother of five as you may already know.My children ranging from 17yrs old to only 18 months! Ther was a long gap between my second last child and my last, my toddler is 12 yrs away form my son,so it has been awhile since I've dealt with a young child.I still got my touch I believe.I give my baby tons of love, and I am fortunate enough to be a stay at home mom so I get to spend alot of time with her. I've always done the best I could at parenting all of my children.And, through trial and error, I believe I got alot of things in the bag! However, as we all know, each child is their own unique self.And, I have to admit, I could do a little brushing up in the discipline category.From what I've heard and remember, at this age you have to start setting limits for them as they begin to "test" us and see what they can get away with!I am always looking for advice and reading books,etc. So,I figured I'd see what you guys coould offer! What do you believe is a good way to discipline a young child? Maybe the firm NO,? That's what I am doing.It doesnt seem to be working though!How did/do you do it? At what age did you start? Any suggestions would help,thank you.