How do I get on a schedule or routine???

I seriously need help or something! Lol

I (30f) have two kiddos (10month f) and (10y m)

I have been trying for years, and I mean YEARS to get my family on a routine or schedule but it feels like we are just everywhere all the time.

Every time I start getting us where we need to be something happens to wrench my plans.

Example. We finally got the baby to go to bed at a reasonable time, and then we had to wake her up because our dog got very very sick and we had to go to the emergency vet an hour away.

Or the baby will wake up randomly through the night and stay up until 6-7am.

How do I fix this?? Should I just wake everyone up early and try to push a bedtime. I feel them being exhausted would just make it worse. But I have to do something. Not having some form of a routine isn't good for kids, or me tbh.

Any advice welcome