I had this problem with my son. He went to the restroom by himself, but just did not want to wipe. So, I started using the cottonelle wipes instead of toilet paper and guess what? He started doing it by himself.

It was not overnight though, it took about 5 months after being potty trained before he was comfortable attempting to wipe on his own.

Good luck :)
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I don't have kids of my own, but I know my brother and several friend's siblings didn't wipe on their own until they were 6 or 7.
One way is to basically force them to do it. Tell them your busy/hurt yourself/can't do it, and they'll have to do it. They might sit there for awhile, but eventually they'll do it MOST of the time. It did backfire with my brother once when he ended up sitting on the toilet for about 4 hours and eventually just got up and pulled up his pants without wiping. But eventually it will work.
I remember being little and not wanting to do it because it was "gross", and after I got past that I was scared I would miss a spot and get in trouble for messing up my undies.
You could try offering rewards as well. Give them a small candy or something when they do it on their own.

I know a lot of parents have trouble with this particular chore so try to be patient, eventually it'll happen!
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