How Do I Know?

As a parent I often wonder if what I'm doing with and for my kids is right. Am I discipling enough, too much, am I babying them too much, are they lazy? How do I know?
I watch my kids as they interact with other kids and even each other. I watch other kids and compare their behavior to my own kids. I know I probably shouldn't but I like to see how other kids behave in public, treat other kids, treat other adults, respond to their parents and how well other kids listen. Over all, I'd say my kids are very well behaved and they make me very proud on most days. But I still wonder if I'm equipping them with the life skills they'll need. How do I know if I'm giving them the tools they need for now and to grow with? Am I giving them too much too soon or not enough? Should I just keep doing what I'm doing and watching them and as long as their behavior is in check, not worry about it?
As parents, how do we know how to get our kids to each point in life that they need to be at? I've managed to get my kids through their first 8 and 10 years of life but will the tactics I've been using continue to be successful? How will I know? If what I'm doing isn't right, will I find out too late?
My kids are the core of my world. Because they're so important to me, I just want to give them what they need at the right time. I want them to grow up to be successful, happy adults. Who doesn't want that for their kids? It's a huge responsibility and I do take it seriously. At the same time, I want to have a good balance. I don't want to be so caught up in what the future holds, that I can't enjoy each moment of life as I live it with my children. I want them to be kids, to play, laugh, splash through mud puddles, eat ice cream for dinner every once in a while, cry for no apparent reason and rely upon Mom to soothe them. I want them to need me not just today but tomorrow and next week and for years to come. I want them to enjoy their childhood because after all you only get one chance at it. Once you're an adult, you can never go back to childhood and do it over.
So how do I know that my kids will enjoy their childhood, will grow to be wonderful adult women, will need and love me all of their lives and how do I know that I'm doing the right thing now? I don't but as I walk through each moment with my kids, I'll watch them, pay attention to who they are and how they are, how they treat others and when necessary I'll discipline and teach them what I believe to be the best way for them. I'll laugh with them, cry with them and enjoy every day with them.....this I know I can do!