"But true discipline is a far cry from legalism -- Thank God! The difference lies in motivation. Legalism is self-centered, discipline is God-centered. The legalistic heart says, "I will do this thing to gain merit with God." The disciplined heart says, "I will do this because I love God and want to please Him." The true heart of discipline is relationship -- a relationship with God."Barbara Hughes, "Disciplines of a Godly Woman"