I just tell my ds's I'm teaching them the skills they will need for when they leave home, and that they are both expected to contribute around the house.
the trick is to start when they are young, however it isn't too late.
we sat down a few months ago and did a list of all the jobs and chores which needed doing. they picked the ones they wanted to do (kind of)
ds2 is 11 (just) and does the following jobs:
washes the breakfast pots every day (and put away the clean tea pots from the night before)
feeds the rabbits and guinea pigs every day
put his dirty clothes in the washing basket (the right way round with the pockets emptied)
keep his bedroom clean and tidy
it's not easy to get him to do these jobs everyday, and sometimes it would be quicker and easier to do it myself, but he has to learn that jobs need doing no matter what. clothes don't magically take themselves to the washing basket
last week I showed him how to sort the washing out into different loads, to check pockets etc. it took forever, and he kept trying to wander off ie go to the toilet and then not come back again. it took about an hour
to sort it out. he then carried the washing downstairs and I showed him how to put it on.
I was knackered at the end of it, but you have to persevere.
ds1 is 17.
he washes his own clothes (he doesn't like the washing stuff we use, so he has his own ), hangs them up to dry and then folds them up and takes them up to his room (where they generally get left in a pile on the floor)
keeps his room clean and tidy (in theory anyway)
cooks his own tea (he tends to eat at different times to us)
washes his own pots
feeds the rabbits and guinea pigs once a day
cleans out rabbits etc once a week assisted by ds2
he also cleans the bathroom when asked
he will do the shopping if supplied with a list and cash
he is a good cook, can vacuum, clean, iron, change bedding, do basic diy and pack!
basically at 17 I would expect him to be able to most of the jobs I can do (though usually not to the same standard )
so.....you can either do the list and ask her to pick maybe 3 jobs she can so on a regular basis, or tell her you now expect her to do 'washing' or whatever on a daily basis. I'm sure it won't be easy, but as she is an adult, then she is more than capable of doing adult jobs. and she will also need the skills in the not too distant future.
you know your dd best, so you'll know whether a carrot or stick is the best approach.
good luck