make a game of it, if you really want him to clean, make it a sexy game.
Have him vacuum in the nude, and for each room cleaned, you remove a piece of your clothing, as an example.
Unless he then asks for this every time which should be silly for a grown man. Sit him down and tell him how tired you are of cleaning up after him and that you don't feel obligated to be the one cleaning up after the both of you. Remind him that you are not a maid or his mother but equal in the relationship and is feeling bad by this. If he cared and was adult he would step up and do his share. Make a list of everything that needs to be done and split it up between you. He might not even know how much you do. Stick by your guns. It's not him helping you with the housework, it's the 2 of you taking care of your home.
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