After we finish a meal we remind our children to do their “Table Chores”. Table Chores include sweeping and spot-mopping the floor, rinsing and doing the dishes, putting away food, and wiping the table and chairs.
One family I know who does this same routine has a neat reward system. At the beginning of table chores they set a 10 minute timer. If the kitchen is all cleaned up before the time goes off then they get to put a quarter in the families "Going Out to Ice Cream" jar. When they have enough, they get to celebrate all their hard work!