Wow. Yes. Speak with words of encouragement, inspiration, love, and gentleness. Listen with sincerity, listen without getting distracted. Really give your time, your attention, and yourself to the person who is talking to you. Remember this with your children. Is it going to work all the time?? NO! I promise you that, lol, but it will make them feel more comfortable talking to you and you'll be more comfortable listening. This will carry on into adulthood; that I do know for a fact.
In the end we only regret chances we didnt take.The relationships we were scared to have and the decisions we waited to long to make there comes a time in your life when you realise who matters, who doesnt, who never did and who always will.