Kids, of course, need to be taught to obey parents, teachers and other authority figures, but they need to be taught to disobey as well.
Resistance skills are the ability to resist pressure to make a bad decision. We teach our children to resist inappropriate pressure from peers, but they also need to learn when to resist the same types of pressure from adults.
Children learn to never get into a car with a stranger, but it's equally as important to for them to learn that even a trusted adult may try to convince them to do something they shouldn't do.
It's the job of the parents to educate their children about what is appropriate and what is inappropriate. "Does this seem right?" "Does this seem fair?" "Is this safe?"
They should also be taught how to say no.
First, kids should be aware that they have the right to say no, even to an adult, especially when what they're being asked to do makes them deeply uncomfortable.
Second, encourage your kids to practice assertiveness -- no means no -- in a way that stops the action.
Next, teach them that when they say no they are rejecting the act, not the person.
Finally, and most importantly, kids need to know that even if they have been told by the authority figure not to tell, they should absolutely tell someone and get support for the situation.