Start in one room, take an item from the room you're currently in, and take it to the room in which it belongs to put it away.
Now take an item from this room, and take it to the room in which it belongs.
Make a game of seeing how many times they can repeat this step. The child will need to look at the room to see what does not belong and learn where it does. You may need to do it with the child a few times so they get the idea of the game.
A great way to get them to help you clean up.