I so wish I had a clear answer. I am hoping to get them excited by sharing what I learn to carry it home. I think a board with stars if they finish a chore is a great idea than if they complete they get excited. The older ones will whine and may not help at first. I think having a set schedule is the best way to begin. Rotating chores daily except Sunday. Hopefully it will become a habit.
Well, if you are talking about having kids pitch in, then I would make a competition. Each chore gives you a certain amount of points and you want the most as possible. The person/ child who gets the most points gets a surprise. It can be money, candy, etc.