I had a reward system for my children at that age.
A sticker chart on each of their bedrooms. By asking them to do the things they were supposed to like brushing teeth, putting on pjs, combing own hair, they got stickers on their chart. Every so many stickers equaled a reward.
I printed out certificates for their favorite places to visit such as ice cream places, restaurants, parks, etc. They could cash in their stickers for a certificate which would entitle them to the treat they chose. It worked really well!
We also have a structured routine which really helps.