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I would highly recommend "The Parent's Tao Te Ching" by William Martin.

It's a retelling of the Tao Te Ching into plain English, using parent/child relationships to make the points.

I recommend this both to parents, and to children. Which is all of us. We never stop being children of our parents.

I don't have children, nor do I plan to, yet this is one of the most powerful books I've read.