Hebrews 12 teaches us that God's chastisement of us when we do wrong is an expression of His love for us and proof that we are His children. For whom the Lord loveth he chasteneth, and scourgeth every son whom he receiveth.
Fathers bear the primary responsibility for discipline in the family.
Be consistent . Have written consequences and explain them to your children. Never give discipline without also giving instruction. To do so is both unbiblical and abusive. Nurture and admonition should always occur together.