How to teach my children with a good way?

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As a mother, I find it difficult now is that I really do not know how to educate my children, she was 5 years old, she go to this year's pre-school. Her childhood brought up by her grandparents, a lot of habits by her grandparents, this year I let her lived with us,it has been 3 months. I found that my children are very lively and cute, sometimes very naughty, and very stubborn, very strong. Sometimes called her homework, she always writes the side while playing, do not finish the homework honestly, and sometimes I can not help to speak loudly and beat her,which made me very annoyed,I know as a mother who cannot use this way to teach children, but I really don't know how to teach my children with a good way? so myltter friends, are you a mother of children, or do you have experience of education of children, could you can discuss with me here, l really want to learn about what kind of the way to educate her. No doubt, of course I love my children very much, her childhood did not live in my side, because I left my family and worked in another city to work and earn money. Hope I can understand how to be a good mother. thank you.