A washcloth and a bucket
At this point in time, plumbing simply didn’t exist. The only ones that got to enjoy the luxury of a bath were babies; it wasn’t not necessarily to keep them clean, but to “harden” them. As for adults, bathing consisted of a washcloth and a pail of water.
They were expected to keep themselves clean by wetting the cloth and wiping the dirt off their skin — similar to how we’d wipe down a dirty countertop after cooking, except without the soap. Picture that.