Start With The Heart
You can be proud of your parenting and see amazing results when you learn to act with intentionality toward your children. Instead of just working on behavior modification, change your children's hearts and teach them to do what is good, godly, and right even when we're not around. When the heart is changed, the behavior will change.
Learning to use this kind of motivation takes effort, consistency, and strategy, but it works and it's never too late. If you're willing to commit to a little hard work up front, you'll enjoy your kids, your life, and yourself much more when you learn to start with the heart.