The Heidelberg Catechism: Lord's Day 39
Question 104: What is God's will for you in the fifth commandment?
Answer: That I honor, love, and be loyal to my father and mother and all those in authority over me; that I obey and submit to them, as is proper, when they correct and punish me;  and also that I be patient with their failings -  for through them God chooses to rule us. 
 Ex. 21:17; Prov. 1:8; 4:1; Rom. 13:1-2; Eph. 5:21-22; 6:1-9; Col. 3:18-4:1;  Prov. 20:20; 23:22; 1 Pet. 2:18;  Matt. 22:21; Rom. 13:1-8; Eph. 6:1-9; Col. 3:18-21
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Listen, my son, and be wise, and set your heart on the right path: (Proverbs 23:19)
“Enter by the narrow gate. For the gate is wide and the way is easy that leads to destruction, and those who enter by it are many. For the gate is narrow and the way is hard that leads to life, and those who find it are few.