Hebrews 12:11

For the time being no discipline brings joy, but seems sad and painful; yet to those who have been trained by it, afterward, it yields the peaceful fruit of righteousness (right standing with God and a lifestyle and attitude that seeks conformity to God’s will and purpose).

Children to adults all require discipline because there are many alternative ungodly options. God shows us in His Word where the pitfalls exist to tempt our thoughts and try our flesh. It may not feel comfortable, but it will help us avoid future mistakes and problems. We will find peace through discipline, and what used to bother us now has no effect.