"When we give them the impression that their choices don't have natural, logical consequences and we rescue them from those - when we say, 'Hey, you do that one more time, I'm going to take that thing away,' and then we don't take that thing away - that's actually what spoils kids."
As an example, he explains that words of warning are just empty threats.
Do not tell a child "if you do that one more time", and threaten them with punishment for repeating a wrongdoing.
Instead, immediately take action to send a clear message that will deter your child from behaving this way.
Hal says: "If you're not in control, you cannot be in charge".
According to Hal, if your child hits their sibling with a toy and you threaten to take it away if they hit them "one more time", your words will go over their head.
By doing this, he explains, you're sending a message that they can get away with whatever behaviour they want.
Instead, he argues that you should immediately take the toy they are using to hit their sibling with away from them, which will send a clear message and put them off doing it again.
He also believes that it's essential to prepare your children for life without parents.
One of the main ways parents can do this, he says, is to leave them to set their own alarm to wake up for school rather than waking them up yourself.
Summarising his views in his book, he concludes: "Parenting is not about kids, it's about parents.
"If you're not in control, then you cannot be in charge.
"By staying calm and connected with your kids, you begin to operate less out of your deepest fears and more out of your highest principles, revolutionising your relationships in the process."