Discipline and kids!!!!!!

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Every child requires parental guidance and discipline as they are bound to go beyond the boundaries set for them from time to time; therefore we need to know that they require a firm hand to bring them back in. Discipline teaches valuable lessons to kids especially self control and responsibility.Discipline however is not just about punishment,smacking,hurting but teaching these kids .In order to teach our kids well and considering that most children legislation these days go against corporal punishment, what in your opinion is the best way to discipline our kids without necessarily giving them bodily injuries?