Proverbs 13:24 (NKJV)
He who spares his rod hates his son, But he who loves him disciplines him promptly.
There was a study done once on the results of raising children in different types of environments. In homes where there was great freedom (low discipline) and little affection (low love), the children tended to grow up with many problems in life. In strict homes without much love, things were better but still there were some problems. For the opposite home in which there was much love but also very little discipline, things were better still but there were still problems. In a disciplined environment balanced with great love, the children turned out best. That is what this verse teaches.
I went through obedience training with my dog a number of years ago and the results are that my dog is very obedient to me and yet absolutely loves me and is anxious to please me. We learned that obedience was not obedience unless it was obeyed instantly. We learned that good behavior was enforced with pleasure and bad behavior was discouraged with the consequence of pain. These principles work for humans too. I have said many times that I wished I had gone through this obedience training with my dog prior to raising children because I believe I would have done a better job. The good news is in the following verse:
1 Peter 4:8 (NKJV)
And above all things have fervent love for one another, for "love will cover a multitude of sins."
Proverbs 3:11-12 (NKJV)
My son, do not despise the chastening of the Lord , Nor detest His correction;
For whom the Lord loves He corrects, Just as a father the son in whom he delights.