What types of martial arts teach discipline?

All kinds of Martial Arts teach discipline, because without discipline, you cannot learn true martial arts. Whether or not you actually achieve any discipline from studying martial arts, has nothing to do with the art itself, but is determined by the attitude presented by the master/sifu/sensei of the dojo, and by yourself.

If you study at a serious dojo, then such things as discipline, power, improved health and harmony will present itself to you during the expanse of training.

Martial Arts without discipline = trouble..