Parents teach children discipline for two different, indeed diametrically opposed, reasons: to render the child submissive to them and to make him independent of them. Only a self-disciplined person can be obedient; and only such a person can be autonomous.

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Quote text and notes from Wikiquote: Thomas Szasz (page history), available under CC BY-SA 4.0. Source quality and labels are our own summary of what Wikiquote records.