Running a home, taking care of kids, helping your aging parents, and holding down a job are huge responsibilities. If you're trying jam 20 hours worth of tasks into a 10-hour day, it's going to be nearly impossible to stay organized. Who has time to clean up?
Solution: Track yourself for a week, noting everything you get done, as well as what you don't. Then take a hard look to see what tasks on your list are superfluous. If everything must get done, get help. Consider delegating tasks to other family members, or hiring an outside service.