I don't get paid for doing housework, neither do my kids ;)
I started my girls on simple chores very early on (probably 1 1/2 and 3) SUPER easy stuff... they have always been eager to please and as a single mom at the time, I probably to a little advantage of their eagerness, but it's turned out really well! They've ALWAYS been my good helpers :)
The 2 year old can hand you things as you put them away (or have the 2 year old put things away that you hand them). Little stuff.
The 5 and 6 year olds can do more. My 5 and 7 year olds put away all their clean laundry (which I've cleaned and folded), they clean their room, feed/water the dog, put the recycling in the bin, empty small waste paper baskets, replace garbage bags, get their dirty dishes/clothes in the sink/hamper, etc... it helps SO MUCH! They do more than my fiance, LOL!
I've always failed at chore charts, but my daughters know what is expected of them. My 13 month old son will 'help' me put his toys in the bin, bring my diapers or his sippy cup if I ask... I'm really big on verbal praise. If the girls do a super exceptional job cleaning their room (like bust out the broom and dustpan without me asking), they might get a hersheys kiss or something special, but in our house, it's all about that constant verbal praise. It took a long time to get to where they are now, but persistance is key! Hang in there, they'll get it (maybe your husband will too!!)
On a side note, it is a constant struggle with my 5 year old. She'll do the work she's supposed to, but she knows that if she doesn't do it, her big sister will (lazy bones!)... I have to constantly poke my head in and remind her that we're not coloring/reading/watching tv/singing, and to clean up her stuff... it takes her a little longer, but she gets it done :)