Discipline is a process whereby certain relationships (cause-and-effect associations) are established. It is a way of behaving, conducive to productive ends. First, it must be taught (through consistency and contingencies); secondly, it must be learned (i.e., internalized) (Madsen & Madsen, 1998, p. 5).
Madsen, C. K. & Madsen, C. H. (1998). Teaching/Discipline: A Positive Approach For Educational Development. (4th ed.) Raleigh, NC: Contemporary Publishing Company of Raleigh, Inc.