Being a good father requires first learning to be a good son. One learns to be a good son through the primary means of learning: discipline. Before trying to discipline, either great or small, one must have the integrity needed to endure discipline: to admit when one is wrong and make amends and to, when one's convictions are solid and true, never waiver from them. Deviation from the principles so clearly and deeply held turns what was once a monument to discipline and healthy relation into a mausoleum of the dead, dry bones of a righteous man turned hypocrite. The principles held so closely then become an alabaster box that no one dares to open, lest the skeleton comes tumbling out in macabre fashion.
It is never too late, if one still has breath to speak, to turn back and ask for forgiveness. Likewise, it is never too late to forgive for past injustices. Our hearts are restless until, in Him, we see both so very clearly and experience both concurrently.