Many preschool teachers have their kids sing a special song while cleaning up. You can use one that your kids use at school or you can make up your own for your family.
For older kids, you can designate a song from the radio or have a special CD that is clean up music. Pick a song that is upbeat and motivating. When my kids were younger, we used the Backyardigans CD as our clean up music and now “Party in the USA” is our designated chore song.