I will preface this by saying that I realize I'm extremely... um... unconventional.
Before I had kids I had all kinds of ideas about what kind of mother I would be and what my kids would and wouldn't get away with. yeah... thoughts and life are two totally different things.
Discipline to me is teaching. My goal to to be a guide, a mentor, and helper in them finding their own life and truth and happiness... and most importantly in finding themselves. I want them to be respected, respectful and resilient beings.
I haven't been talked back to, hit, or called names yet, but my kids are young (almost 7, 5, and 3) so there is plenty of time. I speak to my kids with the respect I expect from them. If they talk to me in a non-respectful way I tell them what their words mean to me. What I heard as the receiver. I don't really feel a rise because they aren't perfectly respectful all of the time. I can't accomplish that myself with all the more years of experience I have.
My kids are allowed to question my authority- in fact I welcome it. If I say no, I welcome a well thought out counter argument. If they throw themselves on the floor and scream as a way to change my mind, I ignore it. It gets nothing from me, so it is a fruitless endeavor. When they finish I'll gladly get them a glass of water and talk about what I just observed and listen to what it was like for them. I'm still nice to them. But my "no" hasn't changed. If they are able to make a logical and rational case against my no, I'll gladly change if they make valid points.
If one of my toddlers are crying in a super market, I can almost promise you it was poor planning on my part. None of my kids (to date) have cried FOR something in a store. Never for candy or a new toy. Each time it has been after a playdate, before a nap, before lunch or similar and I NEED to run in and get something. I set them up for failure in the over stimulating environment of most grocery stores today. So yes, if she is crying I'm likely to hug her, rub her hair or "shhhhh" her calmly while I get done ASAP. I don't see the point of getting mad at them for being young souls with limited experience and low stamina.
Like I said, I'm a bit unconventional. We haven't employed punitive discipline yet in our lives... not to say I wouldn't, but we haven't found a need to (yet). That doesn't mean we don't discipline, it just means we define it differently.