From Chapter 32 of You Have No Idea by Vanessa Williams and Helen Williams, with Irene Zutell:
HELEN: To me being a good parent is a lot of trial and error. In hindsight, what worked for us as parents was being consistent in family rules, establishing clear expectations, and setting positive goals. The priority for us was being a parent and showing our kids that they are loved. Friendship was secondary. I didn't care if I was my child's friend. But as my children have aged into adulthood, I d like to think they think of me as their mother and their friend. [...]
When I have my future children years from now, I hope to develop a similarly positive relationship with them.