If your kids don't find tidying up enjoyable, you aren't making it fun enough! Make housekeeping a game. Does Daddy take a shower every morning? See if all the bedrooms can be cleaned, the laundry whirring away in the machine, with everyone sitting down for breakfast before he gets out of the bathroom. Blast a favorite song and see if the room can be tidied before it is over. Set the timer for ten minutes and race to clean the kitchen. Talk about your day or plans for tomorrow while you fold and put away clothes together. Make like Mrs. Piggle-Wiggle and pretend that an evil queen is coming to inspect your house to see if it is clean enough... if it isn't, everyone will be locked in the dungeon. Read an extra story, sing songs, or play a game as a reward children who are pleasant and helpful.
Make things fun and you will be shocked by the great results you get... the best being a home that everyone helps keep nice!