You didn't say how old he is or whether or not he's been neutered.
If he's old enough I would get him neutered ASAP.
You know you need to work on your pack leader behavior and potty issues, I'm sure he'll improve if you do.
I take my girls outside first thing in the morning, because I know they have to go potty. Don't give him the opertunity to go in the house in the morning, take him outside.
Sounds like you know what needs to be done, you just lack motivation. Isn't his behavior enough to get you motivated? Change yourself first and you'll see a big improvement in him
Are your kids old enough to each take a turn taking him out as a certain time?