We raised seven great kids.
One of the things that worked when they were small, is a swat on the diaper to get their attention.
If you are consistent in your paranting, it is not necessary after they are out of diapers. They already know that you mean what you say, and do not challenge you to the point that you would have to swat them again.
You can't let them know that though. They must know that they cannot push too far. They won't if you are consistent.
That is not the case with me (or my kids for that matter), I was spanked until I got too big to be spanked. Then it was up to me to straighten myself out. My kids sometimes get spanked for doing something they just got spanked for or because we spanked one for something then have to do it to the others because they did not take heed that what had just happened to the other one.