Based on the little experience i have had with my children, learning patience is the biggest key factor of how i have adapted to parenting and effectively built a strong relationship with my children.
Keep in mind- kids will be kids, but also remember, as a parent, you are in control! Of course, i am sure that will get more complicated, the older they get! My 4 year old is already telling me she hates me and wants to move out, she don't like time-out one bit! Or a classic- Your Not My Boss!
Tone of voice and facial expressions also play a key part in a situation- you vs. them- This being because they let your child know even if you mean business or not.
When all is said and done, make certain you discuss what happened with your child, make sure they know why what happened did, and if it does happen again, ask them what is going to happen. This establishes boundaries, and helps teach them that there are consequences for their actions. You can not expect a child to automatically know what to do and not to do, it is our job as parents to teach them.
No child is a perfect angel and we as parents do make mistakes. Just remember to learn from those and if something isn't working, (strategy, punishment-discipline, parenting habits, etc) Maybe it is time to try something new!
~Keep loving your children,inspiring them to learn, love and grow!~
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