Flylady. 5 minute room rescues, 15 minute 'company ready' clear and cleans, 1 hour weekly 'home blessing' (you don't need to use that term.)
Everyone, even a teen, can cope with tidying up for 5 minutes and it is astonishing how much better a room looks after that short space of time. Do it daily and you soon don't need to ever do more.
If they get used to 5 minute tidy ups, in 15 mins a room can be tidied, hoovered and polished so if they have friends coming over, their pits of bedrooms or the chaos they have left the living room in can be turned around. It's like magic. It saved my sanity.
For the 1 hour 'home blessing', if the whole family puts aside 1 hour on Saturday morning, to change the beds, empty the bins, mop, clean the bathroom, hoover, air the house, mow the lawn etc, then usually you are all done in 45 mins - have a delicious brunch afterwards as a reward and the house looks lovely for relaxing in over the weekend.
Totally agree with PP - never pay DC for household jobs. If they ask, just say: no-one gets paid for maintaining their own home. The pay-off is living in a lovely, welcoming calm space. But if they want to earn money, I pay them to teach me tech stuff they know instinctively and I struggle with.