I usually take the approach of offering to do a chore together or having one each to do at the same time before we get to sit down and relax together. It helps if you aim to do it as soon as you get in so you're not tempted to sit down and make excuses for not doing it.
I like to explain why helping me in turn helps him. I.e. I’m less stressed so he doesn’t have to deal with an anxious, crabby wife. I have more time to make a delicious dinner. Happy wife, happy life.