You asked for an example of a typical day - bearing in mind our ds1 needs more help than the average 9 year old, this is what our day looks like:
7.00 dh and I get up, he has a shower while I make the packed lunches.
7.20 One of us wakes ds2 and dd and gives them a few minutes to wake up properly (ds1 is always awake and reading before 6.00 am). I shower while dh makes everyone's breakfast.
7.30ish-8.00ish Eat breakfasts, supervise washes baths or showers depending on the day and child
8.00 We lay out ds1's uniform for him and he and ds2 get dressed. Either dh or myself dresses dd. (Ds1 needs lots of reminders and supervision while he gets dressed so we one of us has to stay with him to do that.)
From when they are dressed until 8.30 they have free time to do whatever they like - usually reading for ds1 and colouring or lego for ds2, then ... (This is when we have chance to get dressed and if we are lucky have a quiet cup of coffee.)
8.30 Go through contents of ds1's bag and read school diary with him to remind him of anything he needs to do that (handing in letters, taking in or bringing home homework etc).
8.35ish Shoes and coats on, dd into pushchair and off for the school run.
After school:
3.10 Ds2 comes out in the far playground, so we wait for him then walk round to pick up ds1 from the juniors whilst chatting about his day.
3.15 ds1 comes out. We go through the list of things he had to remember that day and check if he has given everything in and/or brought everything home that he should. I usually have to speak to his teacher and he usually has to go back into school 'at least' twice to fetch things he's forgotten. 
3.40 Arrive home, boys go straight up and change out of their uniforms while I prepare a drink and snack for them.
3.50 Boys and dd have a snack and we chat about their days, then dd usually draws or does playdough while the boys do their homework with me.
I sit in the middle of the table with them at each end, they do spellings at the same time with me calling them out. Ds1 has fine-motor handwriting practise to do at the same time, so I have to supervise that as well. Then its any bigger pieces of literacy or numeracy, which we've scheduled so they do them on different days or at most 1 piece each on the same day.
Then ds1 has typing practise on the pc (this is to do with his fine-motor issues) while ds2 reads to me.
Finally we go through their bags for any letters or notes and ds1 and I write out all the next day's reminders in his school diary and make sure he has everything he needs in his bag ready for the morning.
from 4.30-5.00ish, depending on how much homework there was - the boys can go off and do what they like while I cook the tea
6.00-6.15 Dh arrives home, we eat together, then one of us washes up while the other one supervise baths or washes and teeth.
7.00-7.15 Ds2 goes up to bed and reads to dh until
7.15 when he has lights out.
Ds1 has reading time until 8.00. In the meantime I put dd to bed - she's usually asleep by 7.30, but occasionally plays up so its more like 8.00.
8.00 Ds1 goes to bed and quiet finally descends upon the household! 
Then dh and I collapse!
We also do a fair bit of the repetitive reminders, but on the whole the boys are pretty good at following the routine - ds2 is the worst, as he's very slow going in the morning and does a lot of staring into space instead of eating his porridge. They both know however that any time they waste comes off the free time they have before we have to go out and I've found that's a great motivator to get them to shift their bottoms. 
It also helps that we made up a homework timetable for the boys and that's on the noticeboard in the kitchen, so they know where to check what they should be doing and its easy for me to keep track of who should be bringing home or handing in things on each day.