Obviously, there is no specific positive ways to discipline growing up kids than to be parents who are disciplined themselves. You can't give what you don't have. As parents there is no how you can instill discipline onto your child, unless you too are also well disciplined. In other words, parents should strive to discipline their children by setting examples they are to live by.
It would be outragious for parents to expect their children to be of good behaviour while themselves are not portraying good qualities. I usually see some parents telling lies in the presence of their kids, and they expect such kids to be honest tomorrow. It can't work! I see some smoking and drinking in their children's presence. How do you tell those same children that such habits are bad tomorrow?
In the case of unruling behavior from them, you can make use of two-prong approach, which is the using of the rod and admonition. The use of the rod shouldn't be done out of wickedness but of love. It should be done to correct and not to hardened the child. After using the rod, call the child and point out why you resorted to adopt the measure of using the rod. By so doing, the child would learn the lesson behind the discipline, hence wouldn't turn out hardened tomorrow.