Kids want their parents to be proud of them. If you show them the right thing to do they'll do it most of the time. Let them know you're proud of them when they do right. A mistake is a mistake. Help them focus on fixing the mistake and move on. Express disappointment when they willfully make the wrong choice, but don't overdo it. A little goes a long way. You don't have to make them feel like shit. And you definitely don't have to hit them.