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Children’s empathy and prosocial behavior play an important role in their social competence. Of the influential factors, research has demonstrated that parental behaviors and the quality of the parent–child relationship are important correlates of children’s development of empathy and prosocial behavior. The current study examined the associations between different types of parental behaviors (i.e., parental knowledge, parental solicitation, and parental psychological control), “balanced connectedness” in the parent–child relationship, which allows for both closeness and autonomy, and empathy and prosocial behavior in adolescents. The participants were 335 married couples (more than 80 % European American) and their adolescent child (49.0 % female; 10–13 years). Data were collected at three time points for parental behaviors, balanced parent–child connectedness, and adolescents’ empathy and …