Having a clean and tidy home is among my top essentials for good mental health, so I've spent a lot of time and effort working out how to achieve that. The main thing for me is for keeping things clean and tidy is how we do everything, rather than something we try and achieve on top of how we live our lives.
It starts with two rules
- There is a place for everything and everything is in its place.
- Don't put it down put it away.
Until you have those in place, you are swimming against the tide. Start by decluttering til there is a place for everything. If that feels too massive start with one room, or even one corner of one room.
Get it strait, with only the things there that should be there and everything in the right place. Move slowly outwards from there.
Make sure that the place for everything is practical , too. No point having shoes beautifully arranged in a bedroom closet if they are far away from the door where you put them on and take them off.
In general only put anything anywhere that there is space for it. When you fill the fridge with fresh food, put the new things under the existing ones or (if the existing ones are getting too old) throw them out and then put the new things it.
Made tidying up as you leave a room a habit that all the family uses, part of the nighttime routine is to clear away toys and put them away. (You might have a 'toys I'm playing with now' box or shelf for this) in addition to the general storage.
Building tidiness into your routine helps you to see where the code of chaos is coming from. Is it really you making a mess or is it everyone else in the house.
Spread out a place for everything and everything in its place then make a game of singing 'don't put it down, put it away'
One concession to the teenage years is tidiness in one's own bedroom to be a personal choice. Let them keep the door closed on any chaos, just don't tolerate any food and cutlery/crockery up there.
Good luck, it will get better.