i come from a different perspective.
i dont and have never really done 'chores'. its more of a i need help because this is too much for me to do stuff. i started asking for help when dd loved helping. so its always been a part of our life. wiping the table at 2, taking all the leftovers to teh kitchen after eating. its like second nature to her. however i never asked her help to clean up her toys. she had a particular hard time with that. sometimes she would help me when i was doing it (actually when friends came over and it went crazy she always pitched in).
i also look at stuff she likes. so at 5 she started cooking and by 6 she was making dinner. she enjoyed that. she does the laundry and puts them away when she is home. she puts the dry dishes away and sometimes does dishes too.
i also dont insist on a time. i give her warnings (if she forgets) that it would be helpful if she did it before.... sometimes she also can opt out of the chore. if she is doing something really interesting and cant pull away. however sometimes she doesnt have that choice. sometimes she does extra for me since i am involved in something i cant get away.
right from when she was young we've been volunteering and doing a bunch of things. so she really gets the concept of help. we also go help friends out.
last week we were at a monastery and you would not have found a more enthusiastic window cleaner and leaf sweeper. she loved it and cant wait to go back and do more.
it is harder to do at home, than outside. but as she has told me - its teh way i ask and the tone of voice that makes the big difference. yeah she is very sensitive.
i have never paid her nor had my friends pay her for her work. however friends are allowed to treat us to icecream or something to say thank you.