uppfostra

Etymology
From.

Verb

 * 1) to teach (a child) desirable behavior, to raise (a child)

Usage notes

 * The literal meaning is "to teach someone desirable behavior," usually about children, but raise is almost always the natural translation. Also pretty common for pets, and sometimes (possibly condescendingly) about adults.
 * The difference from raise can be seen in e.g. "uppfostra dina barn!" = "teach your children to behave!" "To discipline" could be put as another translation, but it might give the wrong idea.