I get compliments on my kids behavior so often. People beg me for my secrets. It's simple. I have treated them with respect as an individual person since day one. We only use our words to communicate and we never raise our voices. We apologize when we make mistakes and make it right. We talk about our feelings and work towards compromise. All these rules apply to kids and adults equally.
I grew up with spankings and being told "I'll give you something to cry about if you don't shape up" and "just do as you're told, no questions". I won't repeat those behaviors.