How do I teach my child responsibilty and to clean up after herself?

I agree with Deepshikha. Leading by example is the best way to show your kids the importance of cleaning up after themselves. They may resent it at first but as they get older, it will become second nature to them and they may even thank you for it one day. Make it fun, too! Cleaning doesn't have to FEEL like a chore (even though it is) haha