Cleaning up after a messy messy man

I have to stress my frustration today on how hard it is to keep a house clean with a fiance who has never had to clean up after himself!! lol Harrison's mom has always cleaned up after him since he was a little kid. She did everything for him from picking up his laundry to putting his dishes in the dishwasher. I love his mom, but this is such a horrible thing to do to your children. You have to teach them to clean up after themselves!!! I don't ask much of Harrison because most things I like done a certain way and I do not want to ask him to do something and then tell him how to do it. I would hate that if someone did that to me, so I would never do that to him. Saying that I do ask that he picks up his own laundry, hangs up his towel after a shower, and puts his dishes in the dishwasher!!! I have spent the last year nicely trying to train him to do these things. Since we have been in our new house it has really started to get to me when he does not do it. So, I tried telling him that I will pick up his stuff for him, but I would throw it away. I actually put things in a trash bag one time. I have still had no luck on getting him to do this on a regular basis. I need some suggestions on how to train him to pick things up!!! Overall he is such a great guy and I love him sooo much. He works on all of our cars and is soo handy!! If we could fix this problem he would be perfect!!! ( I still think he is perfect, but it sure would save me a lot of time if he would clean up after himself)

Lindsay