Being a successful entrepreneur frequently involves a series of missteps and mistakes before finally nailing the right idea or business.

The difference, for many, between giving up and persisting through the toughest times can be getting advice from people who have done it before — and being smart enough to listen.

From investor Mark Cuban’s dad telling him that there are no shortcuts to Lululemon founder Chip Wilson’s realization that people actually enjoy helping others, we asked 12 successful entrepreneurs to share the best advice they ever got, discovering the lessons that stick with them to this day.