To do this cheat, you'll need any vehicle (as long it fits in an elevator).

Choose a penthouse, any house you want, and then drive your vehicle to the yellow mark where you usually go to get inside your house.

When you are on the mark, press Y and you'll spawn with your vehicle inside the elevator, and you can drive around your house.

Note: this works better with a motorcycle.

Note2: sometimes the elevator's door won't open automatically and you can get stuck there for a while.