I asked mine what jobs they were prepared to do. I said I needed help. They had never thought of it that way, that I was the one who needed a bit of help. I made a list of everything that drove me mad and asked them to choose something from it, and made them promise to keep it up. I told them that if they didn't help me and I had to do those things, then I wouldn't have time to do other things that they really needed and wanted me to do.
So on the second day of DS returning from Uni after having been on various trips and stuff, there was still over a month to fill up so I sat him down and we worked out a new rota. His sister used to take over the ironing - sadly he hates it. But when he's at home, he vacuums his room, gets in all the logs, clears the table after meals, empties the bins and sorts the recycling, prunes all the plants I can't reach and cooks once a week. His choice. He has always cleared the table, vacuumed his room, picked the fruit and emptied the dishwasher since he was 12 - and changed his own bed. I think the choice part is important. His sister chose to do the ironing, Hang out and put away all the washing, (DS does it sometimes) change the beds, cook twice a week and stack the dishwasher.