It's not bad parenting to beat your kids when they do wrong.
It's not bad parenting to stop them from leaving the house whenever they want.
It's not bad parenting to be strict with them
The notion that a good parent is one who's a friend to their kids is tricky.

Trying to be seen as "good" by your kids is silly, because you don't owe them your goodness.
You owe them provision, guidance and protection.
Guidance won't always consist of soft hands rubbing the guided one's back, as they're veered in the right direction.

Sometimes, it's a rough hand shoving them in that direction, because if they knew what was right, they wouldn't need the guidance.
And being sentient humans, they may resist your guidance, even when it's for their own good.

Do you watch your child jump into a volcano because you don't want to be harsh?
It's silly to be afraid your kids will hate you because you weren't "soft" with them.
More often than not, they'd never listen to you if you're soft.

Children must be raised.
It's either you raise your kids, or outsiders will raise them for you.