The answer to your question is so simple. Just have perfect children!
But in all seriousness, Josh and I have this quote hanging on our fridge:
I feel certain that if, in our homes, parents will read from the Book of Mormon prayerfully and regularly, both by themselves and with their children, the spirit of that great book will come to permeate our homes and all who dwell therein. The spirit of reverence will increase; mutual respect and consideration for each other will grow. The spirit of contention will depart. Parents will counsel their children in greater love and wisdom. Children will be more responsive and submissive to the counsel of their parents. Righteousness will increase. Faith, hope, and charity—the pure love of Christ—will abound in our homes and lives, bringing in their wake peace, joy, and happiness.
- Marion G. Romney
Ensign May 1980 "The Book of Mormon"
The whole talk is pretty good, too! This is just the last paragraph. We use it as our family goal.
Otherwise, I really believe that sometimes children will just be children. I actually think my children are nicer to each other than my sisters and I were and I try to remember that when I get frustrated with their bickering. Oh yes, they fight. Are you shocked to hear that? :-)
Andrea - loved your notes from your lesson. It gave me some things to think about.