I've whipped my oldest daughter once and that was only because of how egregious the offense was. Otherwise, no. Never. I find it infinitely more effective to take away things they enjoy when they consistently misbehave. Nope, you can't have a sleepover with your cousins this weekend. Nah, you can't play with your toys today & if you give me attitude, you won't touch them tomorrow either.. No, you can't go to ballet Thursday because you deliberately disobeyed your mother after we threw you three lifelines before it came to this.
Each time, I lengthen the sentence. Eventually, she gets tired of it and acts right. Key is picking when to punish and when to simply have a talk, however long or brief. Kids will be kids and I don't think
every offense warrants grounding. For the most part, my girls are well behaved. The middle is the most mischievous by far and she's the most like me so I probably give her too many passes.

They know it'll be a long weekend if they push the envelope too far, though.