I was an elementary teacher for 11 years before becoming a stay-at-home, homeschooling mom. As a teacher I had systems, charts, and routines for just about everything. The kids knew what they needed to do, when they needed to do it and how it needed to get done.
For some reason, it took me longer as a stay-at-home mom to figure out that those same systems that I spent hours setting up in the classroom were going to be needed at home too. When the kids know what is expected of them and how to accomplish that (often without my nagging) they and I have a much smoother day.