I haven't found a way to get things permanently tidy, but when things are too messy and I get the hump, they do it.
Also, I don't flinch at letting stereotypes get in the way. For example, my son is hopeless at tidying but is up for mowing the lawn, whilst my daughter is happy to pick flowers, do a bit of gardening and tidy up the house ! All sounds a bit Famous Five, but whatever works without a fuss works for me
That said, my son does like cooking and my daughter is not into that yet!
I deal with the washing, the shopping and the DIY and the childminder does the ironing and the hoovering.
The kids don't get pocket money but can get money for doing chores, entirely at my discretion, based on whether I had to nag, how much time and effort they put in and the result
It kind of works for us...