"You dare to defy me?" "We can't defy the King!" "I don't want to defy orders." "She really can't defy him any more, or else she will be in trouble." "Defiance will not be tolerated!"
I can't really think of any 'daily' uses. It's not a common word in daily speech. As you can see from my examples, it's always used when there is an order or command that is being ignored. So it's related to military, royalty, and sometimes in work. Like disobeying a boss would be defiance - but it's not that common in that situation.
Possibly it could be used between parents and children... but it is really such a formal word that I can't imagine it in any normal family haha.