How can our children learn about authority?

Deut 8:5 (NIV) Know then in your heart that as a man disciplines his son, so the LORD your God disciplines you. 

How can our children learn about authority?  When we exercise it consistently and firmly in a godly fashion, with grace, with justice.  If we allow our children to step all over us, they will not understand nor appreciate authority.  Parents should make the ultimate decisions in the home, not our children.  Of course we should consider our children's feelings, etc but we must make the family decisions.