A.M.
Beginning as soon as they can walk! And I say start them early. Anything from picking up toys to gathering the garbage cans. Sorting socks, washing windows, using cleaning wipes to wipe around the doorhandles or toilet seat, vacuuming stairs or along the edges of the hallway, hand washing cups, folding wash clothes and rags, making piles of socks or t-shirts, dusting off the tops of tables, setting the table, putting away utensils from the dishwasher. The list is endless but it does require some creativity to think of them when the kids are young. My kids, ages 5 and 3, have "Help Mommy Time" every morning after breakfast. We work in a room or on a cleaning project together all at the same time. I have found that doing chores together is more productive for us at this age than any sort of chore chart. The trick is to think creatively, be consistent, and make it a happy experiences for everyone to be together. Hope this helps.