My parents are authoritative. When I was younger, at about 6 or 7 they encouraged me to go outside and play/explore the world, but not without restrictions. One of which was that I couldn't play anywhere past our street, and for the most part I followed that rule. One day I decided to disobey them due to some pressure from other kids and I went to play two streets down from my house. This resulted in my parents grounding me, but they explained why, that they were worried for me and didn't know where I was or who I was with. This is an example of authoritative parenting because they let me have some independence with reasonable rules, and they did deal out consequences if I broke the rules but not without explaining why.