A Mental trick I use to help me take all of the decided-upon steps of a routine is to think of it as a ritual. This is aided by the inclusion of additional behaviors that are primarily superficial.
While creating these rituals may make some tasks more complicated than necessary, I find that when I complete a routine precisely as intended, I feel more of a sense of accomplishment. As I said, this is purely a mental trick I use and, aside from the additional feelings of accomplishment, adds very little of use to the routine, but it also costs extremely little.
An example of this is my drying off routine when I finish showering. It begins with turning my left foot toward the shower head and drying off my face, then I turn my right foot, dry my hair, and mentally count 1. Each step involves rotating a foot, 1/8th of a turn, and counting upward. Next, I dry my arms. Left inside, then outside, Right inside and out. I dry my back on the 5th count/ foot rotation, and the 6th is my buttocks. 7th, I dry my left leg and then my right leg. On counts 9 and 10, I pat dry my face and hair a final time before hanging my towel up on count 11. On count 12, I step out of the shower and dress myself. My counting continues through this process, and if I do it right, it ends at 20 when I step into my right slipper.
I know that facing specific directions and counting is unnecessary, but it feels right to do it that way. It also ensures that I complete all steps, which could be annoying, even though it’s not very likely to happen. Most of my rituals come naturally after I notice that I do things in a certain way. Only after thinking about the process do I decide if that’s the best way to do things. Sometimes, a budding ritual might need to be tweaked a little to make it fit with a count better or to align with something else.
You might fall into rituals as you form longer routines, and I encourage you to adopt them intentionally. They cost exceptionally little and may add some additional satisfaction to their completion.