One reason obedience pleases the Lord is that parental authority gives security to the child. If a child does as he likes, there is no security in that. If a child does as he ought, that brings the security he needs. We are free from disease when we obey the laws of health. We cannot expect mental health if we violate the laws of mental hygiene.
Authority serves the young person's best interests.
Mastery of self is possible only through yielding to authority. Children should grow progressively out from under the absolute authority of the parents if the home is healthy. As a baby, the child should be under the absolute authority of the parent because the child has no capacity for decision making. As the child gains some understanding of the laws of life, the parent gives away some authority. Later as the child learns to independently apply these laws as managed by himself the parent gives more authority to the young person.