We have a chore chart for my boys - they are a little older - 10 and 7, but we've had a chore chart for them for a couple years. I used excel to set it up, and they each have 4 chores they have to do each day before they can play electronics, play with friends, etc. Their chores range from wiping down the kitchen table to sweeping/mopping the floor to cleaning the toilet/tub - out of the 4 each day, there are usually 2 easy ones (wipe down the front of the stove, dust the piano) and 2 harder ones (clean up your room, sweep the floor). We require them to fold and put away their own laundry, which is not part of the chore chart, but is required as part of their daily chores when their laundry comes up from the dryer. They complain about it the normal amount, but they know the drill and get their stuff done if they want to have their electronics privileges or play with friends. On weekends its great - when they get up, they do their chores, and by the time we are up, the chores are done and they are playing nicely either on the wii or the computer. My 2 year old does "chores" too - she loves to help empty the dishwasher or "sweep" the floor (not that she's good at it) - they set a great example for her. We also have outside chores that we pay them to do - mow the yard (they have to be 10 for that type of responsibility), weed the garden etc.
My theory is there are 5 of us in the house, and it is just not possible for me to do everything for everyone and keep the entire house clean - everyone makes the messes, so everyone helps keep the house clean. It also teaches them a great deal of responsibility, and the ability to keep their space clean will help them when they grow up and eventually leave the house.
Hope this wasn't too long (too late!) Good luck to you :)
~T.