A few things that we have done around here:
All toys are neatly displayed on shelves so that he can choose them and replace them on his own.
He has a small table and chairs in his playroom, as well as in the eat in kitchen for eating and playing at.
We have hung a shelf with pegs at his level in his bedroom so he can hang his own coats and jackets. He puts his gloves on the shelf, and his shoes under it.
The laundry basket in his bedroom and bathroom is low and accessible.
He has step stools in his bathroom and the master, as well as a small potty in several areas of the house, and toothbrush and toothpaste in his bathroom and ours - that way he can brush his teeth with us if it is more convenient to do it then. He looks in the full length mirror to see what he's doing so he doesn't need help.
His pajamas, pants, socks, underwear, and pullups (for nap and night time) each have a drawer of their own in his dresser, at his reach. We only keep stuff he doesn't need to get to (like diaper cream, etc) in the top drawers.
I'm looking into getting a small pitcher to put water in so he can learn to pour his own drink. This is something he is practically begging to do, and he does it at his montessori school.
Basically he can dress himself, undress himself, put his dirty clothes away, choose his clean clothes, choose and put away toys, books, puzzles, etc all on his own. You might check the Montessori board here for some more ideas. My son attends a Montessori school which reinforces these principles. Let me know if you want any more ideas.

He is 24 months old.