The key is finding things that they CAN do that you're pretty certain won't hurt them too much if they somehow fail.
Because otherwise they're going to silently sit and watch and wait, and then one night grab the car keys and put the car in neutral and roll down the driveway into the neighbor's yard.
Yes, that's the trick. And making sure those boundaries are enforced consistently (if mom says no ask dad, &c).
I certainly did my fair share of independent acting out in my teen years (the car example is right on the nose for me) but we've got a lot of groundwork to lay before we get to that point. As far as I can tell the next target is learning how to use a doorknob, which will bring its own set of challenges.
Because otherwise they're going to silently sit and watch and wait, and then one night grab the car keys and put the car in neutral and roll down the driveway into the neighbor's yard.
At least so I've heard.