The methods I use to eliminate so much of the staining is as follows.
Drink water along with meals and or drinking staining items like coffee and tea it will wash some of the stains away.
Brush my teeth 2 to 3 times a day with a whitening toothpaste.
Chew sugarless gum when no one is watching.
Visit my dentist twice a year for a good cleaning.
You could also add the whitening strips or have a bleaching done by the dentist, which yes is expensive but could be worth it to you.
My friend JtotheA also recommended in a similar question to use baking soda 4 times a week for brushing and to replace your toothbrush every three months.
Good luck and best wishes.