Ephesians 6:4 Do not exasperate your children…

Paul in verse 4 is speaking to parents! His first word to parents it not to exasperate their children. We understand the words to mean “Do not irritate your children, do not provoke your children to be resentful or angry.” I think, parents as a whole find this very difficult to do! How does one go about disciplining children without them becoming angry or resentful?