These two phrases are very similar in meaning, but the use of both "father" and "mother" explicitly includes women in the teaching process. (See: [[rc://en/ta/man/jit/figs-parallelism]])
The abstract noun "teaching" can be expressed as a verb. Alternate translation: "Do not reject what your mother teaches you" (See: [[rc://en/ta/man/jit/figs-litotes]])