What does a healthy, wholesome relationship with children look like?

I have been reading a little book called 77 Irrefutable Truths of Parenting, by Larry Keefauver.  His rule #1 is:

Children require taking notice, talking, truth, trust, togetherness, touch, thanksgiving, time, teaching, Trinity.

In the explication of his rule that follows,  he makes the following statement:

We confuse taking our children places and involving them in extra-curricula activities with involved parenting.  Yes, part of parenting is going with them to their activities.  But parenting is about relationship not just running around with children.  What does a healthy, wholesome relationship with children look like?

What do you think?  What does a healthy, wholesome relationship with children look like?