What to do in this situation?

Hey guys!

So my dog is not a puppy, he’s an older dog, so with that naturally comes more problems, but I do love my dog, it’s just constantly cleaning messes that is not so fun. My question for you guys with senior dogs, what do you do if your dog pees in the house and accidentally steps in the pee and walks around and leaves tracks. I know the obvious way to prevent this is taking him out, but sometimes it still happens. He is a terrier mix, and he will be 16 in April. What I typically do is take him In the tub to get his paws clean, but I don’t think that will work either, since he gets nervous and poops in the tub, and causes a bigger mess than initially. I was just wondering, what do you guys do in this situation? Am I alone in dealing with this? Thanks so much for your help!