Let an older child take the lead by supporting his ideas — for example, say yes if he decides to plan a family meal. Set up some firm but fair family rules. But when you work with them to find a solution, they also learn. Also, you need to give due respect to the child in the way you talk and behave with them.
Hug your children when they wake up in the morning and before they sleep at night, and as many times you can during the day. Be clear about your expectations, what they can expect from you and any ground rules and consequences for not following them.
Unloading groceries after going to the store is a good example of something that children of most ages can and should assist with. Joe and Magwitch on the other hand, protect and help Pip in his life due to the love and respect they have for him, despite not being related to him directly.
So, the child takes on the responsibility of making the parent happy, resolves family problems, or even takes up the daily chores at home.
Of course, if you ask, be prepared to accept and live with the child's choice. However, Pip seems frustrated by this act Magwitch has committed.
This little gesture shows that you value them more than others and can help strengthen the bond.