M.P.
Kids love to see mommy agitated. Be very matter-of-fact with them. Put cloth training undies on them. Tell them they are to use the potty. First get them up in the morning and sit them on the potty. No pants until they go. Don't get upset, don't yell, just very calm. If one gets up and pees on the floor, get him a towel to clean it up, a baby wipe to wipe himself, then put his underpants on him and tell him he will need to use the potty or he will be cleaning up again. If he poops in the pants, make him rinse them in the potty.
Keep at it for several days.
You can kind of predict when they need to go, every 1-2 hours, so you can ask them or just say "time to go potty" and sit them on it.
Rewards for potty use don't usually work. THis is something they must do. Don't make a big deal out of it.
Also, you might want to try a stool to let them pee standing up, going in the toilet.