Set clear limits and enforce them consistently. Your child needs to know what you expect. But be sure that you have the time and energy to carry through. If you are already late for work, it's okay if he leaves the Legos on the floor. Create routines and stick to them.
Children feel more comfortable when they know what's coming next.
Learn to recognize anxiety in your child. When Irene whines, that is your cue to stop sorting laundry, give her a smile, ask if you can help, and listen closely. If you can catch the problem at this early stage, you can head off challenging behaviour. Put yourself in your child's shoes and try to figure out what he gets from his challenging behaviour. Once you know what the challenging behaviour brings him, you can help him to get it in a more acceptable way.