The most important thing, in my opinion, is peaceful parenting. That is, no hitting and no shouting - teach your kids to reason, even if they're being unreasonable.
For example we had to be nice to adults and authority figures just because. If somebody had told me that it's in general good to be nice to other people because they will treat you nicely too I think my social development had been much better.
I don't think I ever had a satisfying conversation with my dad.
It's certainly possible, and very much worth doing, but I wouldn't call it easy.