Use a damp -- not saturated -- sponge mop to wash with warm water. If your wood floor is really dirty, try a solution of 1/8 cup plant-based liquid soap and 1/8 cup distilled white vinegar to 1 gallon water (some people like to add 10 drops essential oil for fragrance). For ceramic and stone floors (including marble), use warm water and a pH-neutral all-purpose cleaner.
Wood floors will need only infrequent cleaning if you vacuum them regularly with the appropriate soft nozzle head and wipe up spills and tracked-in dirt promptly. Remove your shoes at the door, and ask guests to do the same.