It can be much more difficult to discipline unless you've laid a good foundation in the early years. That's really why it's so important to discipline your daughter effectively now. The most important thing I can tell you is not to try to enforce too many rules at this time. Otherwise, your house will be a constant war zone. Sit down and make a list of the four or five areas that are most important to you and your partner.
Consistency is the name of the game.
If you insist that the four or five rules be followed each day, your child will learn discipline, even though it may not seem that way at the time. Remember that if a four year old complies with your rule, but talks back, that is still compliance. It's okay if she has the last word, as long as she's following the rule. Time outs still work for some four year olds. A more effective method may be the removal of a privilege.