How can parents and teachers encourage holiness without teaching legalism?

In this video, Dr. Bruce A. Ware helps us distinguish the difference between holiness and legalism as we teach and train our children.

The video includes this nugget, which gets to the heart of the matter:

The difference is this: Holiness is a life lived out of a sense of joy and authenticity, that living faithfully and obediently is the good life - is the life of joy and blessing. Whereas legalism is a kind of dutiful adherence to laws that my heart is not engaged in.
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