My son is 18 and we still have to tell him to start at the top and work his way down-if it doesn't have bubbles on it, he missed it. We still set water temp and oversee everything. Also, If he is able to read, make him a list of steps or if he can't read, do pictures, and cover it with clear contact paper on both sides and hang it in shower/bathtub to remind him of the steps. Good Luck.
With my daughter I made it a game before we got into the bath. I would ask her where's your belly? And she would point to it. And I'd say rub your belly!!! Rub, rub, rub your belly! And we'd do a little dance. Then I'd say where's your arm, toes, and so forth and do the little rub, rub, rub dance. She loved it.
My son is 14 and I still have to wash his hair and start the shower so its not too hot. I let him wash himself and prompt/remind him to wash all his parts.