Put your parenting style to the test.

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THE CATTLE DRIVER
The cowboy rides high on his horse to keep close watch over his cattle. He wants them to know he's the boss so he postures himself over everyone else.
He commands with his voice and drives the herd ahead blocking their path to the right and left and using his whip or electric prod to keep them MOOOVING. His energy motivates them so long as he's visible through the dust and audible over the ruckus of the herd.

THE SHEEP HERDER
The shepherd leads the sheep, walking out in front of them to guide them along the way. His pace is deliberate but gentle so that all can keep up. His cane can both rescue those who stray and correct those who are BAAAAAD but it is always used out of love.
His voice is soft and even, calming the sheep and reassuring them they are safe. There is a joy in the procession, and he often leads out with singing. Because they trust him, they always look to him and choose to follow.

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Leaders don't need to remind their followers that they're in charge. Their followers are grateful for their direction because they know they care.
If your goal is to get from point A to B, either parenting style will do. If you seek, however, to raise a future servant leader, your choice is clear. Be a servant leader and shepherd your flock.