Hart, Sura, and Hodson, Victoria Kindle
Respectful Parents Respectful Kids: 7 Keys to Turn Family Conflict Into Co-operation
California: PuddleDancer Press, 2006

The authors present a model based on Marshall Rosenberg's Non-violent Communication, one that is neither authoritarian nor permissive, but based naturally on the recognition of legitimate needs.

Rosenberg, Marshall B.
Nonviolent Communication: A Language of Life
California: PuddleDancer Press, 2003

Compassionate communication requires that we 1) observe without evaluating, 2) express how we are feeling based on needs, desires or expectations being (or not being) met, 3) acknowledge how we have chosen to receive others' comments or actions, and 4) request how others might help us fulfill our needs, desires or expectations.