Question:
Do you have any tips on how to motivate my children to clean up after themselves without nagging?

Answer:
Try the simple technique of describing situations rather than giving direct instruction. Not only does it make the delivery more neutral, it draws more attention to the situation and it’s need for correction rather than the person and their discretion. For example, instead of saying “Pick up those toys; put them in their cubbies and I mean it,” simply say, “Toys belong in their cubbies.” Or instead of “You always leave wet towels on the ground. Pick it up and put it in the hamper now,” try “Dirty towels belong in the hamper.”

Another simple trick is the use of notes. It’s amazing how children respond to this. For instance, when I put a label (“color” and “whites”) above each hamper basket, it’s amazing how magically everything got sorted without my ever having to mention it verbally again.