While it may be enjoyable to get people to do what you want, it's preferable to motivate and inspire co-workers and family members rather than intimidate them into action.
The intimidation might be created by something you don't consciously control, such as excessive height that makes you tower over others, or your leadership position, but it is usually the result of how you communicate.
Harassment can occur in a variety of circumstances, including, but not limited to, the following: Prevention is the best tool to eliminate harassment in the workplace.
If you want to cease intimidating those around you, you'll have to adopt new ways of communicating. Examine your interactions and ask yourself if you have a subconscious desire to manipulate others.