We started adult life (career type stable job/income, mortgage, etc) very late, and to my regret, I didn't get serious about saving right away. We weren't particularly 'spendy' and never ran cc debt, but the first few years all our money went to paying off student loans, car, house, furniture, appliances, etc. DH contributed to his 401k and I made sure we had a 5K emergency fund and that's all.
I didn't get serious about tracking income vs spending/saving until about 5 or 6 years later when student loans and our car were paid off. At that point, we definitely started to save more.
But still I didn't start thinking in terms of setting short-term goals and celebrating milestones until 4 years after that, when we took on supporting older relatives. It created a huge cash drain, especially initially. All of a sudden we had a second mortgage, a second car (with loan), and a whole second household to pay for. At that point, necessity demanded that I get very serious about our money.
To stay motivated, I began tracking every penny in and out of the house and setting goals for debt repayment and savings. By the time our finances stabilized again a few years later, the habit was ingrained, and I now try to always have a few spending and savings goals that I can track (graphing progress really motivates me).
E.g., right now I have a goal of increasing our bi weekly savings amount this year by 200$ over last year's; and saving enough money in our slush fund taxable account to surpass the amount of our only debt (mortgage). That should happen sometime late in 2018, at which point I will have to find a new short term goal.
I set longer term goals also (amount of $ needed to be FI, of course), and I enjoy tracking progress toward those. But shorter term goals keep me more motivated.