How do you make your children clean up the toys after playing?

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My son is 4 years old now, I have always been finding a way to make him clean up the toys after playing. I have read that as 4 years old is still very tiny, we need to clean up the toys together with them. Usually I am the one who does this work, I always find a way to make him do it together with me, I need his participation in this, especially letting him know this is his responsibility to do so. I just found a way today. I was reading a book to him, the story mentioned a few people picked a paper with number written in it and decided who should go first. My son asked me about that, and I explained. Before my baby girl woke up, as she just learned how to crawl now, we have to clean up the toys to make the place baby proof. I suddenly thought of making the cleaning tasks more interesting, by writing them one by one in the papers, and two of us pick the papers and do the tasks. My son was very happy listing out the task together with me one by one, I drew them in the paper. We split the task evenly. After we have done the task, we drew a tick on the paper to marked it as completed, and also drew a smiley face on it. My son were happy doing the clean up tasks. I hope this technique can last for quite a while. This can be Math lesson too. As we write the task on the paper, we need to count the total number of the tasks, and we need to divide by two. So, my son might pick up the concept of division here. (He already learned how to count.) When my baby girl grows up, we will need to divide by 3.