DP and I work ft and have my 12 year old dd and his 20 year old ds.
He leaves the house at 6am and gets back at 7pm, I leave at 8.30 and get back at 6.
Generally, I cook and do the general day to day cleaning. DP does the 'proper' cleaning such as mopping floor, cleaning windows. Also do the laundry. Assign a list of chores to dd, dss and dp, such as cleaning the bathroom, cleaning the loo, hoovering the stairs etc. Spend time doing this in the week because I HATE spending time cleaning at the weekend.
DP or DSS take the bins out (boys job, that one).
I think I do the majority of the management of the day-to-day housekeeping; even if I don't do it myself I will be the one who notices that something needs doing and will ask it do be done. But everything is good natured and to be honest I am happy with this arrangement and don't feel a martyr. I do all of the cooking, which is best because I am quite fussy with how things are cooked, but I don't do the dishes or clean up after, and all evening I do not go in the kitchen again (dp is the one who makes cups of coffee, sorts out pudding, glasses of wine or whatever, and he also cleans up the detritus of the evening before we go to bed. He also is the one who locks all the doors and turns all the lights/TV out.)
DP also does all grocery shopping and driving/dropping kids off and collecting.
Think it works our all ok, and as I say is all very good natured, we know that the chores have got to be done so do them as quickly as possible in order to relax! This system works well for us and I suppose that is the point.