We had 5 kids. 4 are engineers (two ChemE's, Materials, and Electrical) and one a teacher for a year turned property owner (25 owns 3 houses).
All killing it.
When someone asks how we did it I say, "Never do ANYTHING for your kids they can do for themselves."
This includes giving them money when they could have a job. They WORKED for everything. NONE of them graduated from College with any debt - one had $50K in the bank when she graduated from college.
Required to read daily K-12, and did a LOT of homework we gave them outside of school (math and reading).
Were not allowed to have a car until they read "Atlas Shrugged" and gave me a rundown what they heard. And I needed to hear the right things or they would read it again.
If I had to name one thing. Raising your kids to make their OWN decisions. In a round about way we are saying the same things. The question is how do you teach discipline and consistency? The answer is never do for a child what they can do for themselves (which is much harder than it sounds). They will fail from time to time and you can't bail them out. It hurts.