Based on "dual filial piety model", the study aimed to investigate the psychological functioning of reciprocal and authoritarian filial piety. Specifically, how do parents' reciprocal and authoritarian filial piety influence parent-child relationships through the mediating mechanism of parenting behaviors composed of warmth-hostility and control-autonomy dimensions? The study is based on the secondary analysis approach, and the data come from Panel Study of Family Dynamics (PSFD) conducted by Academia Sinica. Data from two sample—mother-child and father-child—were analyzed separately by structural equation modeling (SEM). The results showed that (1) reciprocal filial piety had a positive effect on warmth parenting style and authoritarian filial piety had a positive effect on control parenting behavior; (2) warmth parenting style did promote parent-child relationship and control-autonomy dimension did not harm the relationship; (3) reciprocal filial piety had a positive indirect effect on parent-child relationship through the mediator of warmth parenting behavior. On the whole, some paths were almost the same among the two samples, but the patterns were somewhat different for mother-childrens' and father-childrens' model. Finally, based on the findings, implications for dual filial piety model, directions for future research, and limitations of this study were discussed.