My wife and I developed a parenting strategy that seemed logical to us when the kids were very small. It worked well - our children are all very well behaved and upright, across 2 decades, with a 26 year old daughter, 17 & 16 year old sons, and a 6 year old daughter.
We called the strategy "Ask, tell, make". We started it as soon as the kids were old enough to comprehend that something was being asked of them. It was quite a simple three strikes rule. First we "ask" you to do (or not do) a thing. If you don't comply, we "tell" you. If you still don't comply, we "make" you.
We made sure that the "make" stage was immediate, direct, physical, and unpleasant. For instance - Ask) "Johnny, would you please pick up that toy and put it in your toybox?" - Tell) "Johnny, pick up that toy and put it in the toybox, right. Now." - Make) Walk quickly to the child, looking them directly in the eye with anger, grab their arm, lift them briskly to their feet, physically bring them to the toy, use a firm grip to push them to the ground, place the toy in their hand, lift them back up, drag them over to the toybox, and tower over them with a scolding tone, "Now. Put the toy in the toybox."
Then a quick conversation about how daddy doesn't like to get angry, and Johnny doesn't like it when daddy gets angry, so next time, put the toy away when daddy says it the first time.
By doing this, we taught our kids very early that our requests would be fulfilled, and that how pleasant or unpleasant that is depends entirely upon them. They could respond when we ask, when we tell, or when we make, but in every case, the request would be responded to. With every one of them, we could see lightbulbs go off around 4 years old, that the easy, pleasant road that leads to harmony in the home and lots of praise from mom and dad, and lots of hugs and kisses was the "Ask" road. Why get yelled at and do what you're told anyway, or get manhandled and do what you're told anyway, when you can just do what you're asked, and have no problem?
The thing about this was that it was VERY intensive parenting until the kids were 4-5. We had to be diligently consistent. No laziness in follow-through. We couldn't fail to execute on "Make", or the whole thing would be blown, as it relied on the surety of that unpleasant consequence. But the result is 4 kids who are very respectful, obedient, and secure in the love of their parents, and feeling in control over the harmoniousness of their lives.
Another benefit was that while we used them as a last resort on occasion, spankings were very rare with all the kids. I've always hated delivering those, and never have done so without a long conversation afterward about obedience, fatherly duty, consequences, and love.