Through the eyes of a child discipline seems to be an unnecessary restriction to his freedom. But as he submits to the discipline he is given, it actually deliver to him more freedoms than he would have dreamed of before.
And these new freedoms are sustainable freedoms, and they come with an added benefit, the satisfaction of knowing that he did a bit of work to get them.

Now as we grow up we become more and more aware of this principle, but we tend to apply it backwards only. We remain like the child in one way, constantly bemoaning the school-fees which are going to buy us freedom in the future. But we also get old and cynical in another way, always telling the generations behind us how much harder it was for us.

This is not a desirable situation, we should switch the view around, we should apply the principle the other way. We should expect the disciplines we are currently undergoing to deliver to us some awesome freedom in the not to distant future - just like all the other disciplines have done in our lives (it is a principle that ought to require less and less faith because it keeps proving itself). We should embrace the difficulties of life with a fervent joy, not a stoic resignation or a hedonistic withdrawal. We should be looking forward; not backward!
Søren Kierkegaard puts it quite nicely in "The Sickness unto Death":
"...if I have ventured wrongly, very well, life then helps me with its penalty. But if I haven't ventured at all, who helps me then?"

If we were really honest we would realise that the real problem is the selfish, irrational, logic-less, sinful, human-nature that each of us possess; or shall I say that possess us each in varying degrees.
But I thought that perhaps it might help in some way to understand how this principle actually works, and so this article attempts to explain it.

Freedom is the ability, I think, to do something which gives pleasure without really having to think about it. It doesn't have to be a self pleasure, but I do believe that the purest form of pleasure experienced by the self comes while giving pleasure to others.
The opposite of freedom is being forced to submit to rules one neither appreciates nor understands. It's the infernal way in which we are forced to think about it all the time that makes bondage so unplesant. Pain usually plays a role here, nothing quite heralds the lack of freedom like pain.
Now what happens is that when one submits to the rules (by choice or not makes little difference), one begins to understand them. And the understanding brings a little glimmer of freedom.
I'm thinking, as an example, of the old movie Karate Kid where Daniel-son is ordered to wax the old karate master's cars in a specific way, "Wax ohn... wax ohff, Daniel-sohn."
When, after a day of waxing, Daniel complains that the old man is using him as cheap labour, the old master launched some punches at him, and Daniel is able to block all his punches without even thinking about it because of the discipline he has undergone. In a few seconds Daniel goes from disgruntled to pretty impressed (even if he does say so himself).
Every freedom comes this way, birth is probably our very first discipline; and predictably we cry afterwards, cutting teeth is another, and so we go on.
Now here's the beauty of it: Have you ever tried to analyse yourself while you are doing something that requires a skill that you acquired through discipline (skateboarding, drawing, playing an instrument, reading, etc)?
What you will find is that the very second you start analysing, trying to be aware of your muscles or the processes of your mind, that same second you will fail at the skill and you will no longer be enjoying it. Note: If you are going to try this rather do it while you are reading than skateboarding or bridge-jumping!
You are instantly reminded of what it was like when you were still trying to master the skill, before any enjoyment was part of it. Isn't it diabolical how we take our discipline for granted?
That is why I say that freedom is the ability to do something which gives pleasure without having to really think about it. When my fingers just fly across the frets leaving me free to enjoy the music I am creating, when I am able to notice the wind in my hair because my legs are riding the bicycle by themselves... then I am free.

I am inclined to think then a little differently about the discipline I am currently undergoing. I wonder what amazing freedom God is going to deliver me into next.

I’ve lived in Johannesburg for pretty much my entire life – in fact I moved here way back in 1981 (sheesh that does sound long ago).  Anyway, I’ve always known that God wants us to be part of his plan – you know… look for where God is at work and get involved! In the early stages of my working life I spent 5 years at a company based in the centre of Braamfontein.  Kim attended Wits University and would often walk through the city from de Korte street, where our offices were, to the campus to attend lectures.  It was an important time of my life as God started setting the stage for so many things.  In those 5 years I only got mugged once; nothing serious, but my name (like many others) is now part of that lengthy list of those affected by crime in our city.  I can’t say for sure that it was then that it happened, but I’ve found myself being a bit of a closet Skeptic, and I think that I may not be the only one.

It's a strange concept that we should become attached in a relational way to things utterly incapable of relational reciprocation. But we do, and we call this irrational action, with a certain fondness mind you, Sentiment.