The first step to this method is to make sure you don't leave the room you want to tidy up. Sounds weird, but will make you SO MUCH MORE EFFICIENT!
Now you put everything in this room where it belongs. Exception: things that belong to a different room. Those go on piles, one per room.
Lastly, take the piles to their respective rooms, and, if you still have time, start the process over there.
Simply not running to another room every time you find something that should go there you save MASSIVE amounts of time.
Once you have used this method a few times, you might notice items showing up in the "wrong" room again and again. Consider if it might a good idea to create a place for them in that room.