Budgeting tips?

Since being stay at home and being on our own for the first time, neither of us have gotten really a system of budgeting down. We calculate our monthly bills vs income and our bills are always paid on time, but there isn’t much left for savings and paying credit card debt. We spend too much on groceries and Know we need to cut back. But it seems so be the same every week. Then when something comes up we end up taking the next few weeks to catch up. I would love your budgeting tips! It’s a learning curve when you first go out on your own so it’s understable that it’s take a little time to get the hang of things but we really want to start 2020 off with being better with money. Thanks in advance!!