I read a wonderful article about how to ingrain the chores into the kids... I wish I had understood "teach kids to help" in this way when my son was little! Here is the article...it's about including them in a real way, not a token way ,and they will get the intrinsic reward of togetherness and doing chores will be a part of connecting with the adults...
https://www.npr.org/sections/goatsandsoda/2018/06/09/616928895/how-to-get-your-kids-to-do-chores-without-resenting-it