I know that I do a lot for my kids, but I also know that my kids can help out when I need them too. I started my children on chores when they were 3. They learned how to make their beds (not perfectly) and separate the silverware when we emptied the dishwasher. They later learned to fold laundry and put it away. They may not have done it to my liking - but they were helping and working and that was the point. Now it is expected that they make their beds and do their chores every morning before we play or go anywhere (yes - even in the summer!).
I personally hate emptying the dishwasher and so when it is clean and needs to be emptied, I holler for the kids. They have a system down now and they have fun doing it together and then I don't have to! YEA!! Having taught them at a young age to work has helped me to get more accomplished in a day and they just know that we work without fussing or we don't play. No they are not perfect angels - but 9 out of 10 times that I ask them to do something, they do it without griping and it makes my life a little easier when they help!
I am a firm believer in working and think that it is so important for kids to start early. You should get those kids started if you have not yet and see how much easier life can be when you don't have to do everything! It also teaches the kids to spend time together and they usually end up having fun racing or something while they do it. Good luck!