A. Yusuf Ali:Translation:
But when the children among you 3037 come of
age, let them (also) ask for permission, as do those
senior to them (in age): 3038 Thus does Allah make
clear His Signs to you: for Allah is full of knowledge
and wisdom. 3039

Muhammad Asad:Translation:
Yet when the children among you attain to puberty, let them ask leave of you [at all times], even as those [who have reached maturity] before them have been enjoined to ask it. 82 In this way God makes clear unto you His messages: for God is all-knowing, wise!
3037 Children among you: i.e., in your house, not necessarily your own children. All in the house, including the stranger within your gate, must conform to these wholesome rules.
3038 Those senior to them: literally, those before them, i.e.., those who have already become grown-up before these children attain their age. It is suggested that each generation as it grows up should follow the wholesome tradition of its predecessors. While they were children, they behaved like children; when they grow up, they must behave like grown-ups.
3039 The refrain connects up this verse with the last verse, whose meaning is completed here. The slight variation ("His Signs" here, against "the Signs" there) shows that this verse is more personal, as referring to children who have now become responsible men and women.