In all of my studies surrounding parenting, there is one reoccurring variable that continues to support healthy child-parent relationships, and that is making the effort to genuinely connect with kids.
We should let children know that we have also suffered frustrations and disappointments, and moments of embarrassment. We can then talk with them about how we have overcome our disappointments -- and tell them we are confident that they will, too.
For some children, the question "How was your day?" is all they need to launch into a chatty description of every moment since you parted. But for others what often follows can be anything but comforting to a parent.