Children, obey your parents in the Lord, for this is right. 2 “Honor your father and mother,” which is the first commandment with promise: 3 “that it may be well with you and you may live long on the earth.”
4 And you, fathers, do not provoke your children to wrath, but bring them up in the training and admonition of the Lord.
5 Bondservants, be obedient to those who are your masters according to the flesh, with fear and trembling, in sincerity of heart, as to Christ; 6 not with eye service, as men-pleasers, but as bondservants of Christ, doing the will of God from the heart, 7 with goodwill doing service, as to the Lord, and not to men, 8 knowing that whatever good anyone does, he will receive the same from the Lord, whether he is a slave or free.
9 And you, masters, do the same things to them, giving up threatening, knowing that your own Master also is in heaven, and there is no partiality with Him.
I'm currently watching a documentary on the history of slavery in the American south. It is fascinating that some slaves died trying to escape to freedom while others chose to stay with their masters even after they were free.
This section of Ephesians has basically one point. Whatever role you find yourself in be like Jesus. If you are in the servant role be the best servant you can be. If you are in authority be like Jesus. Rule with compassion and grace.