
If you want Charlie to do something and he doesn't want to do it, all you have to do is have Cookie Monster Puppet ask him.
Dad: Charlie, time to take a bath.
Charlie: NOOOOOOOOOOO
Dad: Yes, son, you're dirty and you need a bath.
Charlie: NOOOOOOOOOOO
Cookie Monster Puppet: Charlie, time to take a bath.
Charlie: YEAH, BATH!!