I've had mixed success with getting them to do chores over the years, but my ds's are now 15 and 17 and they do quite a lot. They take turns washing up every night, tidy their rooms, change their beds, hoover, iron, clean the bathroom, and do the washing (which in my house means opening the washing basket, sorting the contents into coloureds/whites/wool and putting on a load, then hanging it out to dry. Repeat as necessary).
My breakthrough moment was this:
Me: Please do the washing up
DS: I don't want to
Me: OK, if that's how it works, there are plenty of things I don't want to do. Think on.
(I washed up). A day or so later...
DS: Mum I need a lift to (somewhere)
Me: I don't want to
DS: Huh?
Me: You don't want to wash up, I don't want to give you a lift. That's fair, isn't it?
And ever since then the DS's have been much more co-operative in doing their chores. I've also drummed into them that any future girlfriend will soon kick them into touch if they can't do basic household tasks.