Pick a cleaning day. Then every week, you have to clean on that day.
That's the only way I can get it done.
I vacuum, sweep the floors, and clean off the kitchen counter. That's all I have to do. Everytning else is optional, and I get to it if I feel like it or randomly. Sometimes when I really don't feel like cleaning, I put it off until late and end up vacuuming at 1 a.m. or something, but I get it done.
My tip is don't try to detail out the entire house "hired maid style". It makes the job too big and you'll never start. If there's just a little that you have to do, it's not so bad. If you feel like cleaning more, keep going.
(For those of you wondering, yes I do clean my bathrooms, when necessary.)