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Reduce clutter inside and outside the house. Clean dishes as they are used, and remove trash to an appropriate container at the end of each day. Do not leave food or drink sitting out in the open or unsealed. Be sure to clean up and vacuum as well, as they can survive off of the damnedest things.
See if your doors or windows have any cracks or gaps that may help admit entry to insects/small animals, and take proper measures to seal them up.
Apply some diatomaceous earth around the perimeter of the house (how effective it is can vary quite a bit, but is dirt cheap, and every additional control measure helps in its own little way).
If it is an American cockroach, consider a dehumidifier. If you are dealing with brown banded cockroaches, ignore this, as they tend to prefer drier environments.
Contact a pest control company to see if they are willing to give you a free quote or inspection. They might opt to apply feeding gel formulas in discrete locations (in the corner of rooms, behind furniture, underneath shelving, etc.) that can act as a long-term control strategy, and generally be out of the way of you and your pets. That said, they will probably recommend something that best suits your conditions.