Repeat after me, Grasshopper: Power is not taken away, but given away. A power struggle only exists when power (authority) is forced. The moment power is in the process of being proven, it is tossed out there and is up for grabs, like a fumbled football, and each player scrambles to try to gain control, and in the process does more extreme and intense actions to do so. Authority and power are better held, calmly and gently- and guarded from struggle be avoiding pushing it on anyone, especially children.
Say it, learn it, live it. Screw up. Repent. Make amends. Over and over and over. And somehow, one day, you will look back to where you were, see where you are, and find that you have improved.