"Disciple" What an amazing word for this topic.
Jesus discipled his disciples because He knew He had to prepare them to carry on when He was gone back to heaven. They had to be strong enough, and knowledgeable enough, and not easily fooled by false information to be able to do right and lead other people with them.
Sounds like preparing your children to be mature adults that don't need you to baby sit them through their adult years.
The title preached its own sermon.
Teach them how and why to do right rather than disciplining them because they did wrong. That is working on the 'why' they do from their heart rather than forcing their outer actions they do from their head so you won't discipline them.
This is looking at the whole person and whole life of your child, and wanting to parent them in a way that prepares them to be extraordinary people who have their priorities in order.