I've never paid for household chores to be done. We all live in the house we all create the housework.
DC1 is in charge of kitchen, loading and unloading the dishwasher (we're not allowed to touch the dishwasher apparently we don't do it right, suits me), She will also wipe down surfaces and hoover the floor in the evening, she sets the table for meals. DC2 clears the table.
DC3 helps put away dishes from the dishwasher she is almost four so mostly it's unbreakable stuff.
On weekends I hoover the house (except the older DC's floor), DC1 will do the kitchen cleaning cooker and oven, DC2 will clear other rooms and sort through the shelves with piles of crap that has accumulated on them and mop floors.
Everyone does their own laundry except the youngest DC, DH does ours and small DC laundry loads and unloads the machine, he puts out bins and is in charge of grocery shopping and DIY. We share the cooking.
DC2 is in charge of cat litter, we have five cats and I do pay her for that as it's above normal duties.
Both older DC take care of their own rooms, and their shared bathroom.
DH and I clean our bathroom as and when required. We both tidy the living room each evening as the younger two play in there and all their toys are in there.
My DC have been washing dishes and loading washing machines since they were in primary school about seven eight I think.
Everyone always picks up after themselves, so if someone makes themselves a snack or anything they leave the place tidy.
I've always made it clear I am not anyone's skivvy and frankly I would keel over if I had to do all the housework.
Sit down on the weekend and have a conversation with your family. If they require a rota then go down that route. And make sure everyone knows they clear up after themselves, and they do their own laundry at least.