Like literally what is it you do and have done that makes them behave - don't run off, stop when told, walk nicely , not shriek.
And ideally with more nuance than tla generic "by being a decent parent" type stuff.
DTwins are great but they're just... spirited. Language is behind, understanding is there but it does complicate stuff.
They're told off, removed, made to walk on their reins etc
I'm not just sat there watching them misbehave and going "oh no, they're so naughty!"
So why are YOUR children better behaved than mine.??