For the standard cleaning jobs, create a weekly or monthly schedule and divide out the tasks based on availability.
If you have Wednesday afternoons free, schedule laundry and bathroom cleaning. If your children are all home Saturday morning, do a general deep clean while everyone is home to help.
Some people work best if they do all the cleaning at once while others are more successful if they can do it a small chunk at a time. Know yourself, your family, and how you all work together.
Create a chart every week so everyone can see what needs to be done and when. It will take some reminding at first, but stick to it. It’ll become second nature before long.