How did you discipline them / what did you say to them at times they were not disrespectful.

I have younger children. One with ASD. I'd love them to turn out like that. It's so hard to know I'm doing it right.

All people ever seem to say is "oh I didn't have to do much" and it's not helpful, I want to know how situations were dealt with when it wasn't going well. I want to get it right now.
Please help x