This is something I honed during grad school. It helped me when I lived with a roommate, myself, and now with a young family (although kids will actively reverse this process so its a challenge).
-Tidying is an all day long, active process that you should master breaking down to the minutiae. For example, start with identifying an object in one room that belongs in another room. When you go to that room, take the object with you and put it away. I've now come to a point that as I put a stack of clean plates away, on my way back I'll grab dirty dishes from the table. This way Im unloading the dishwasher and tidying the table at the same time. Try not to make tidying a chore, but rather something you do along the way. If you have a lot of objects that don't belong in your room, I find a crate or something to isolate them into is a good start. Multiple crates or bags for different rooms is even better.
-cleaning is a chore. Washing dishes, cleaning the toilet, etc. Tidying is to assist in this process by eliminating an extra objects and to help setup (ex: I like to bring my cleaning products to the bathroom when I go and just set them aside)