Let me tell you something. Whether you like it or not, it is your job to train your child--or in other words--to discipline your child. Even a baby needs discipline. A baby can get herself into a lot of precarious situations. A baby does not know what is safe and what is not safe. You need to teach her--train her---discipline her to know what is and is not okay.
Not only is discipline your job, it expresses love to your child. In The 5 Love Languages of Children , we read, "Love looks out for the interests of another; so does discipline. so discipline is certainly an act of love. And the more a child feels loved, the easier it is to discipline that child" (page 121). I like that quote because it shows both that discipline is an act of love and that we need to show love as we provide discipline. Discipline doesn't need to mean that we are angry--it just means we are teaching and training.
So don't be afraid of the D word. You do nothing wrong in providing discipline for your children. Semantics are of little consequence, so if the D word gets you dirty looks and angry comments, call it teaching or call it training. It doesn't matter--the methods and end results are the same.