How can I monitor my kids cell phone text messages?

I would like to monitor cell from text that are recieved or sent on my kids' cell phone. My kids don't like me monitor their activities on the cell phones, but they cheated me last time. So appropriate parental control is necessary. Any ways for me to monitor kids' text msgs invisibly without their knowing.

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If you don't mind, want to share my experience. I've been monitoring spy apps for a long time. Very jealous, and nothing can be done about it :-) Now then...there are lots of them in the internet, but the majority of them is a crap. Fortunately, found some outstanding apps. Spytomobile is my favourite. If you're interested, here's their website: spytomobile.com
It locates, makes tracks, retrieves sms, calls, contacts. But the main advantage to my mind is that you can read «victim's» whatsapp messages. I think many faced with problems in whatsapp messages retreiveing. Thank goodness didn't find such problems in spytomobile. Nice work.