Japanese women are known to take very good care of their skin. Double cleansing has been practiced for centuries by them in order to keep their face pure and clear. This method may seem a little too-much but it is in my opinion the best way to remove all the makeup and impurities, especially if you wear (a lot of) makeup every day.
The idea is to first use and oil-based makeup remover, followed by a water-based cleanser to completely get rid of any impurities and residues. Oil makeup removers are great, even for acne-prone and oily-skin because they are not harsh on the skin but still very effective, especially on waterproof makeup. Dry skin will also appreciate this methods because you are not rubbing your face with cotton pads, which can be agressive on the long-term.
My current favorite duo are the Extreme Cleanser from Make Up For Ever and the Reve de Miel Cleansing Gel by Nuxe. They are both very soft to my sensitive skin, yet they perform very well.
It is very important to use gentle products as much as having gentle motions in order to prevent aging and imperfections. I know most of us are always in a rush or too exhausted to follow a complete skincare routine and stick to it. However, think of this as a pampeting time instead of a duty. Beside, if you use good and effective products, you will enjoy the routine even more. If you are still not convinced, keep in mind Coco Chanel words :
Nature gives you the face you have at Twenty;
It is up to you to merit the face you have at Fifty.