I know that in islam at the age of 9-10 if the child did not pray the parents can hit the child according to islamic ways (no hitting on the face or sensitive area and and not with something hard, heavy or thorny) but the parents have no right to hit the child if the child is not being teach to do salah prior to that. not just teaching but good practice.
To my knowledge that if the child really understand and has practice salah he will not to be too rebellious when been asked to perform salah. Maybe secretly or behind the parents but not openly.
However in this case, he/she is a teenager a very rebellious age, understanding of salah maybe still low or maybe he wants to proof something i'm not sure (if he is showing dispute)
but if he is lazy then thats another approach probably he needs some motivation or encouragement. Some teenagers will not do anything unless being motivated or theres an excitement in it.
so maybe the parents should try to understand the child first before taking any action.