We have always said we adopted 'benign neglect' parenting - whereby we were conscious that our children did not need stimulation every waking hour and sometimes observing an ant hill or making a mud pie was all they needed.
We were quite strict in many areas like manners, etiquette, homework, punctuality, behaviour, respect... but our friends often comment that we are very relaxed parents. We have managed to raise 2 jolly decent young adults who have done their best academically and both have great friends and girlfriends.