As much as you are able (mentally---heehee), do the chores WITH them.
That's what I do. My first, as soon as she was old enough (before she was two), stood on a chair next to me while I washed dishes (I gave her a little thing of water and a scrubby pad and some plastic cups to "wash", and yeah, water DID get everywhere...) and cooked with me and helped me fold clothes and did every thing alongside me, for the most part.
It can be really annoying sometimes, I'll admit, and sometimes I just can't handle it and just do stuff MYSELF (it's so much faster and easier!), but doing chores WITH them pays off as they age--GREAT time together interacting (I always chatter to them about the Lord or about life or just listen to them chatter to me...or we sing Bible verses or talk about how much we love Daddy or other 'brainwashing' topics--

) and ALSO my children, young as they are, are
crackerjack workers, and they have good attitudes while doing it (cause Mom has always done her chores with a smile and a song!)...
One caveat--get nontoxic cleaning products, etc., if you're having them help you w/ anything that involves cleaners--the typical store brands are TERRIBLE and the fumes alone can do major damage to a young child, much less if they get ahold of the bottle, God forbid! I buy mine wholesale from a company we finally found and love, but another option is simply to go to a health food store or section and get cleaning products there. It's worth it to make the switch--much better on everyone's health!
Blessings,
Molly