When straightening up the house, work on one room at a time and put each item that belongs in that room In its rightful place. As you find things that don't belong in that room, put them together in one spot. Then when you have finished straightening that room, empty your pile of items that belong elsewhere one item at a time. You'll walk take a lot more steps walking back and forth to other rooms. When all the items have been put up, move to the next room and straighten it the same way.
Be sure when returning an item to a room you've already cleaned that you put it back where it belongs in that room. That will give you more steps than just setting it inside the door.