Perfect question for me! I am a work-from-home mom too, and have been since my kids were born, so part of your issue is just that you work from home. You are already pulled in way too many directions with work and two little ones. It's tough!
Here are things that help me. Written routines. I have a weekly routine that I put on the calendar. I clean up the yard (we have a dog) on Saturday and Wednesday, clean the fridge and take out the garbage on Monday (Tuesday is trash pickup), Make my grocery menu on Tuesday, grocery shop on Wednesday, vacuum my car on Friday, etc. That helps with the things that need to be done weekly.
I also have a daily routine that has become habit. Make bed right away, clear off dresser and bedside table before heading downstairs, empty dishwasher first thing while coffee is brewing. Head back upstairs while kids are getting dressed and make sure their bathroom is picked up then start a load of laundry. There are many of those little things of course, but they get done each morning. After I get those little things done, then I work.
Work takes up many hours, but I try my best to get up and switch the laundry at least. If the kids are home from school for breaks or summer, of course I have to get them going on some fun things to do, or help them with something or other, or take time out and run around outside with them. I try to put in quality work hours during the day though.
Then I have another routine for the evening. I make a meal plan each week, so that really helps when it comes to dinner. I even break out the crockpot now, which really is fun once a week. Dinner and cleanup are a breeze. One of us does the dishes right after the meal now. That really helps too. Nothing worse than a dirty kitchen late into the night.
The other thing that really has helped me get a grip on things is having a place for everything. I try not to go upstairs for the evening until everything is in it's place and I make the kids put away all of their things before we do the bedtime routine. Of course, I haven't decluttered 100% yet, so not everything has a home, but it's much better now that I have done a bunch of organizing.
For major organizing, I put a block of time on my calendar. Seriously, it works for me. I block out an hour or two if I can and I chip away at whatever project it is. OR I do 15-30 min of the area I want to organize, if I can't find the blocks of time.
Planning ahead helps me tremendously. I unfortunately procrastinate by nature, so I have to look at my calendar for the week and see what is coming up. If one of the kids has a birthday party to go to, I head out with them during the week to get the present. We schedule to have the card made and present wrapped at least 2 days ahead of the party. Seriously, if I don't schedule it, it won't get done. Everything goes more smoothly if I get a little bit ahead of the calendar. Speaking of that, I'm already planning for Christmas. I am trying something new by shopping once a month to keep an eye out for Christmas or family birthday presents on a more regular basis. I really don't have enough time in Nov/Dec for all of the shopping and wrapping, due to my work schedule. So, I'm doing my best to get ahead of that too.
I also try to start the day with a clean work desk. That helps get me motivated to get down to business. For work I also have a written work to-do list in a notebook with a post-it note attached for household to-do's I need to do that day. I update my work to-dos each Monday and my household post-it note each day..it's a little list of the most important household chores for that day, like Pay Water bill, order books for kids, write thank you note, etc. I only put a few on that really need to get done that day and I do my best to finish them or they get carried over to the next day. If I don't keep a little household list, I tend to get too caught up with work and forget about balancing the housework in too.
Sorry this is so long, I could go on and on. I have come a long way, so there is hope for everyone. ;) One of my friends is OCD about keeping things perfect and I watch how she does things to get a few pointers too. For example, she never puts a dirty spoon straight on her counter. It always goes on something else, so she has less cleanup. Often she doesn't put it down at all and it gets rinsed immediately and put in the dishwasher after stirring something. She never gets out of the car without making sure she and her kids take out every single scrap of garbage. It's amazing how she has worked out some habits that normal people would never think of. lol.