When they were little, my kids used to help me clean before gatherings at our home. I guess they were about 6 or 7 when they started. They did small jobs like dusting. As they got older, they took on more complicated stuff like mopping. It was always when we were going to have company, and I was tied up in the kitchen. They're grown now and always lend a hand if they're here when we're getting ready to entertain.
Interestingly, growing up, one was a neat freak in her own room, the other was not. Now they have their own homes, and both homes are nicely kept.