People judging a child's behaviour are not being rational thinkers. Everything that children learn they are taught. They mimicked from an early age and developed their character based on reaction to that mimicked behaviour. So "misbehaving" is not a issue that children should be punished or scrutinized for. Be there for them as a parent, no child will behave exactly the way you would like. Spend time with them when they are interacting with others and show them alternative behaviours when you see something out of the ordinary. In the end you are their best teacher because they listen to you and mimic you the most.