How do you raise child that behaves well and has good manners?

I know all children have different temperament, behavior and character personality.

But what do you do when the child wants to be the leader they want establish dominance be the parent themselves do everything themselves at age five and older

They pull the school fire alarm after told do not touch that, they cross the street alone do not wait for the adults to help crossing the street. They want to drive the grocery cart themselves, they want to walk around the library by themselves walk around the store you have to go where they go instead of them following the adult.