Do you have a regular tidying-up time? That's what worked best for us for a long time. We've had it as part of our bedtime routine, or pre-dinner, but that's not necessarily ideal (tired or hungry...)... anyway I find that I get less resistance after a few days of doing the same thing at the same time, it just becomes 'what we do'. Of course, we have our good and bad days, too
Now I'm trying to work towards putting things away as soon as we've finished with them but I find that a lot harder than having a designated time of the day, especially when I go 'flip, we need to be out the door right now, we're late, where are your shoes?' and we don't really have time to pack up so we just have to leave it for later