Keeping things rotated is the hardest part. Overtime I have learned a few tricks that keep my stuff rotated.
I label most cans and boxes with a sharpie. Do this once every couple weeks while listening to music or a boom on tape.
I take one section of pantry, rotate label and make a note of what is needed to top it off. I also take any odd items or things that might be a little aging and put them in a box.
I no longer keep a row for everything we have too many items. I have boxes for categories. I have a box for spices, I can take it down, rotate, label, make my list etc then put it back on shelf. This keeps me from knocking over a million items to get to one or breaking and losing them if they fall etc.
I have a box with Hispanic items another for Asian, another for Mediterranean etc.
There is a box for oral hygiene, one for OTC pills another for bandages etc. This makes it easy to overview and rotate and list make. I have a focus area each time I market.
In the mean time I buy up buy one get one free items and the like then put them on the shelves. These get labeled later unless I get a huge amount at once.
We have category tags on shelf fronts. Tomatoes products, condiments, oral hygiene, oil, this makes it easier for the night forages to find things when half awake and prevents things from being randomly placed.