I have some problems with this too,

I make lists and I also order them by number, I order the tasks by what I can multi task on. Like get the dishes piled neatly and sink filled, throw laundry in the washer, wash the dishes, laundry in the dryer, then sweep and mop, put dry dishes away ect. This seems to help cut the time, and keep me going so I don't get off task.

Also I start at the front door and work my way across the house, room to room, and then upstairs. I work the rooms from top to bottom and make sure I have all the supplies with me, so I am not running back and forth to grab things I need.

Now I just need some motivation.