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With him, I feel he understands a little, but still cannot control his own compulsive behavior -- even with the threat of physical punishment.
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I think this is something really important...that you realize he may not be doing it intentionally and it might be something he can't control right now. My son has a horrible temper (he gets it from me), and we are working on how to control it, mainly to think before he acts and to "vent" without kicking or punching. He has taken to "grunting", which I am ok with, and I know from talking to him that he is usually mad at himself and he has gotten better about it.
It sounds to me like you are doing everything right as a parent. Good luck!