Is there a tooth decay prevention solution?

I am always in a hurry of reaching my office as it takes me two hours to reach my office. So, at times at the cost of taking bath in a very clean manner, I forgot to properly brush my teeth so as a result of that my teeth is becoming yellow and which is in turn leading to a bad breath problem of mine. If this goes on I am afraid that i will suffer from tooth decay. Is there any way in which I can kill the bacteria that is not cleaned from my teeth in a proper way and regain my fresh breath?