The best I can tell you to do is start reading John Rosemond. You can start at his website - rosemond.com. You can find his books on amazon for used/cheap. He teaches us how to raise children like our grandparents did, and they didn't have all the angst and problems that we do.
It is not up to your child to "accept" discipline from you. He should have no choice in the matter - other than making the choice that leads to the discipline. You need to set the ground rules (definitely communicate the rules), and not give second chances, or threats, or bribes, etc.
If you expect him to do something, once he figures out that there's no way around it, he'll start to comply. If you tell him to do something and he ignores you (which it sounds like he will at this point), then after a reasonable amount of time you have a real consequence, such as spending an hour in his room (turn the door knob around and lock him in there if need be), and taking away whatever is most near and dear to his heart (television, or video games, or whatever it is).
You're going to have to totally change your parenting, but it is so well worth it. The best book to start with would probably be John Rosemond's Six Point Plan for Raising Happy Healthy Children. He explains that well behaved children are happier, and that is so true.
Just today I was at a play group at a park and someone's son who will soon be turning 5 was just abominable. He had a complete melt down when it was time to go, much like what one might expect from a two-year-old. She spent a good 10 minutes getting him from the playground to her friend's car, then trying to get him in the booster seat, etc., all while she also has a toddler. It was embarrassing for her and everyone else. I happened to notice that when he'd be trying to beat another kid out of a swing (or whatever outrageous behavior he was up to), she would run over and say "don't do that; wait your turn; blah blah blah", which of course had no effect whatsoever. Powerful parenting would have been to immediately march him to a time out, or even better (if she was in her own car) to take him straight home and put him in his room for an hour. That would get results real quick. Instead, he acted like an ape the whole time, and who wants to be around that? She is hoping to get him into kindergarten this year (he has a late birthday), but he's clearly not ready. Kindergarten is far more about good behavior and discipline than knowing how to read or any of that.
Anyway, I can promise that you'll get results (not overnight - it takes time to undo all his learned behaviors) if you do as J.R. recommends. It's been working well on my wild and crazy boys, and we're getting ready to have another one.