Housework has indeed taken many years of experience and I have mastered the task. I've had homes from 1200sqft to 4000sqft -so experienced here. Here are some things I do that work:
1. declutter/ have a yard sale get rid of non essential stuff
we adopted this minimalist style a couple of years ago during a move and it really helps cut down on picking up "stuff" and frankly is friendly to the environment and my bank account. kwim

2. paperwork/mail/school papers get put in a assigned place and cleared through EVERY day. it goes to the trash, inbox (bills to be paid etc) or filed.
I have 2 hanging folders 1)inbox 2) outbox,stuff to be filed. I purge my files one day every year and start over with the current years filing. The last years filing goes to a storage bin in our storage room for the mandatory 7? year save.
3. We have rooms we "live" in and rooms that never get messy like the formal living room and dining room. Kid's have their own area for their toys in the playroom or bedroom. THEY are responsible for it. They pick it up on Sunday nights before the school week. We use storage bins for each toy like legos in one, knex in another, matchbox in another. Toys are not left or played with in my bedroom, formal living room, or dining room. Kid's have been trained since day 1 and don't complain about it either.
4. pick up everyday. clean once a week.
5. I've had to have our homes ready for "showings" (bought and sold several homes) so this would apply to being ready for company

If on short notice and this happened quite a bit, each kid DS7, DS9 and DH has a job/room
For example, I'll get the kitchen, DH does the bedroom, Kid's get the playroom/bedrooms. Powder room is always neat, everyone cleans up after themselves in the powder room/company bath. Masterbath, usually me

6. a caddy of windex/antibacterial, roll of p-towels, comet and a toilet brush are under each of the bathroom sinks. This can be used for the bathroom itself and the rooms nearby.
7. Each floor has a vacuum.

please don't laugh. It's extreme but works well. I don't have to lug the dang thing up and down stairs and technically can have all 3 run at once by a family member thus cutting down on vacuum time.
Containment in KEY here. Stuff is not all over the house or spread out through several rooms.
All this has taken time to "train" the family.
I've found that giving DH and kid's certain specific tasks first works best at first since DH tends to get cleaning ADD himself.
Good Luck and perhaps you'll start with one little step at a time. Don't expect perfection immediately. A little at a time.