Decades of research into parenting have demonstrated that authoritative parents—versus authoritarian or permissive—end up raising the most successful children. Authoritative parents are those who set limits, but use lots of love, kindness, respect, warmth, and communication in upholding those limits. Children raised in authoritative homes tend to become more autonomous, self-reliant, self-disciplined, and academically and socially successful. They are taught to be in touch with their emotions, to have a healthy respect for natural boundaries, and to take charge of their own behavior. Perhaps the most well respected source on authoritative parenting is Positive Discipline, by Dr. Jane Nelsen.