When my dc were 14, 12, and 9 we started a rota so that everyone in the house had to cook the evening meal at least once a week. Whichever ones weren't cooking, one had to unload the dishwasher and the other had to lay the table and get everyone a drink.
No-one leaves the table without taking something to the dishwasher
They were expected to do odd things wen asked on an ad hoc basis.... get stuff out the tumble drier / go and collect the rubbish from round the house before bin day / make a cuppa for anyone, but not a regular, daily sort of job.
Up to them how much they tidied their rooms - but no-one was doing it for them, If they wanted it clean they cleaned it themselves. Same with ironing - if they wanted something ironed, they iron it themselves. Had always had to put dirty clothes in the basket and clean clothes away.
Every now and then (prob about every six week / school holidays) they'd have to join in a 'blast day' where there were bigger jobs like mowing the lawn or cleaning the windows, but that was obviously only a few times a year.
How ?
Partly as they've always been expected to do things (age appropriate).
Partly (for example with the cooking, or with the 'blast days'), first one to sign up gets first choice of which day to cook and what to cook (or what 'big' job to do)- hang back and your choice is limited - always better to do something you've chosen, if you have to cook / clean / whatever.
Mostly I think because they saw it was fair - everyone did their bit, there weren't times when I asked ds2 who thought it unfair because dc1 hadn't done it since last time dc2 did it, etc., etc.
When they tried to push it, then I'd "not have time" to take them to whatever they wanted me to take them to, and I'd stick by it, and not give in.