At what age did you start hitting your child?

My daughter is two and sometimes when she's really bad I'll her ( over her pants and diaper ) or if she's doing something dangerous I'll hit her arm or swat at her hand if she tries to pick her nose. My husband gets mad at me when I do this but I think he over reacts because he was beatin' as a child to the point were he would get bruises or bleed. I don't think he gets that there is a difference between beating a kid and hitting them lightly to discipline them. When she misbehaves all he does is yell at her and she doesn't listen. He's also tried giving her time outs and that doesn't work ether. The way I discipline her actually works so I'm not sure what the problem is. I always behaved better for my father than my mother because I knew my father would hit me and all my mother would do is yell at me. Do you think two is too young to be hitting her even though I don't do it hard.