There’s two types of harness

“Society is the sum of social relations, and among these relations we can distinguish two extreme types: relations of constraint, whose characteristic is to impose upon the individual from outside a system of rules with obligatory content, and relations of cooperation whose characteristic is to create within people’s minds the consciousness of ideal norms at the back of all rules. Arising from the ties of authority and unilateral respect, the relations of constraint therefore characterize most of the features of society as it exists, and in particular the relations of the child to its adult surrounding. Defined by equality and mutual respect, the relations of cooperation, on the contrary, constitute an equilibrial limit rather than a static system. Constraint, the source of duty and heteronomy, cannot, therefore, be reduced to the good and to autonomous rationality, which are the fruits of reciprocity, although the actual evolution of the relations of constraint tends to bring these nearer to cooperation.” – Jean Piaget, The Moral Judgment of the Child (trans. Marjorie Gabain)