Do you feel like it is a struggle to get your kids to help out? What is hardest for you? 

Let’s talk about routines & responsibilities. I believe that the word "chore" has negative connotations whereas "responsibilities" are more empowering for children. As soon as a a child is able to sit up & transfer an object from one hand to the other, then you can teach them about responsibilities. So at 6-8 months, you can teach them to clean up, simply by having a basket & letting them put items into it. Having them put things away is a fun game for them, as well as seeing the different shapes & sizes, putting things in & out...While it may not seem like actual play, it really is developmentally appropriate & fun for them! 🏃‍♂️🏃‍♀️🏃‍♂️
As soon as your child is able to walk, then they can put their diaper in the pail. (Only pee diapers! 😆) Bundle and tape it together and say "You MAY put it in the pail." Also, clothes in the hamper and food scraps in the trash. (ie: "You may put the banana peel in the bin") 
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As they get older, they can have additional responsibilities (supervised) like taking the dog to pee, cleaning the dishes, setting the table, raking the leaves etc. ☀️🧦👟🍳🥞 To help with mornings (or throughout the day), you can make them a routine chart or I love this one from @littlelennonsbusybooks. The routine chart can also be really beneficial for a child who struggles to complete daily tasks such as getting dressed, brushing their teeth, sitting down for breakfast, etc. The simple act of moving the card with velcro backing from one side to the other feels like a huge accomplishment for a child. 🏆