Boundary
A boundary is the line you draw around what is okay and what is not okay for you, a clear sense of your own limits that lets other people know how to treat you and what you will and will not do.
A boundary is about you, not about controlling the other person. It is a statement of your own limit and what you will do, rather than a rule you impose on someone else. "I won't stay in the room when there's yelling" is a boundary. "You have to stop yelling" is a demand. The first you can hold yourself. The second depends on them.
Boundaries come in kinds. Emotional ones decide what feelings you take on as your own. Physical ones cover space and touch. Time boundaries protect your hours and energy. Material ones cover your things and money. Most people are firm in one area and soft in another, and the soft ones are usually where the old survival patterns live.
Holding a boundary often comes with guilt, especially if you learned early that having limits made you bad or selfish. That guilt is not evidence you did something wrong. It is the old wiring registering a familiar fear. A boundary held with care is not a wall against people. It is what makes a real yes possible, because it means your no is real too.