You've probably just fallen far enough behind (you are a busy family!!) that it seems overwhelming, but it doesn't have to be. Here's what I would do...
sacrifice your next weekend...yup, the whole thing...and get EVERYTHING spotless, organized, etc. Here's how I do it, when I get behind and want to really get ahead...
1. Go one room at a time. Go through the room (including it's closets, drawers, etc) and get rid of EVERYTHING you don't want/need for either a garage sale or to donate. I have a mountain in the basement that I add to regularly, and once a year I sort it (takes a month) for sale/donation. So, take a box with you, or laundry basket, or whatever, into each room.
2. In fact, take two. Anything that doesn't belong in that room, throw in the other box, and put away when you get to the room it goes in.
3. Clean, clean, clean. Enlist everyone's help, and really do a job that you are proud of. If you put on some music, washing down the walls and floors, dusting, etc can zip by and be very fun. This is also a great time to rearrange furniture, because it helps you get everything cleaner and gives you a fresh look.
4. Move from room to room, repeating the process. If your whole family helped, you can do your whole house in a weekend. Even the little ones can totally help...they can go around and throw in the things that don't belong, they can dust, they can sit on the furniture while you move it (fun, right?)
Once you have a spotless house, make a few rules. Like, put things away IMMEDIATELY after using them. Do the dishes as you use them...while you're making dinner, etc. When you fold the laundry, put it away instead of in a stack on a chair somewhere. After you brush your teeth, wipe out the sink. Etc. etc. If you stay on top, you have less cleaning to do.
Also, the more frequently you clean, the less time it takes...exponentially!! If you clean your bathroom twice a week you can do it in five minutes...but if you wait two weeks, for example, it can take an hour to really scrub it down good. Same goes for dusting, etc...zoom over it every day, and it takes two minutes.
I love to do chores while listening to music, and dance, etc...makes it fun and seems to go so much faster.
That's my advice...and that way, when company stops by, you're ready for them.
(This is all inspired by my mother, who is an OCD neat freak with her house...like, unbelievable...and I grew up in it. I hated it, so I rebelled until I had children of my own. Then I felt like I had to keep up...and now I love it. I'm not nearly as crazy about it as she is, but I love having a clean house.)