This video helped me a lot:
The summary is that people who procrastinate (or lazy, same thing) are doing so as a passive-aggressive form of rebellion against the constant barrage of people always telling them what they have to do or else, without ever taking time to take our thoughts or feelings into account. The passive-aggressive response becomes so ingrained in our behavior that it persists into adulthood even after there's no longer anyone forcing us to do anything.
Now that you're an adult your life is a blank canvas and you can do anything you want or don't want to do with it. Of course you still have to deal with the consequence of your actions, such as if you don't wash your clothes then you'll have to keep wearing the same dirty ones over and over, but if you're okay with living like that then go for it. No one is going to come to your house and put you in timeout or ground you until you wash your clothes.
Once you realize that you never have to do anything you don't want to do you can stop self-sabotaging yourself with laziness. You never have to do anything you don't want to again. Ever. This doesn't mean that everything you do is always fun, but everything you do is because you want to do it. For example, it isn't always fun to care for your kids, but I assume you love and so you do things to care for them even if they aren't fun. Doing laundry isn't fun, but having nice clean clothes to go out with is and so you do it, or at least that's why I do it. I hate wearing dirty clothes.
Also, keep in mind that even after you realize you don't have to sabotage yourself anymore you will still have to break your bad habits which may take months. It isn't going to be an overnight thing, however you should find that it is very easy relative to before because you're no longer in that mindset of other people being in control of what you have to do. You have the freedom to do whatever you want with your life, so decide what you want to do with it and go do it.