The chores I give to my kids (ages 6 and 8) are things like:
putting the dishes away from the dishwasher,
Windexing the glass table and windows,
Helping set the dinner table,
vacuuming the downstairs, upstairs, or basement,
sweeping the hard floors,
mopping the hard floors,
cleaning the counters, tables, and cabinets,
disinfecting the doorknobs and lightswitches,
getting the newspapers in the morning,
getting the mail in the afternoon,
bringing in the garbage cans, etc.
I assigned a small monetary amount to the chores, such as 50 cents for the harder ones (vacuuming and mopping) and 10 cents for the easier ones (bringing in the mail).
Then they record the chore they did, and the amount they earned, on the chart. Because I don't want to have to pay them after every single chore, I pay them after they have earned $10.
I rarely force them to do these chores. It is their choice. But, I also rarely buy them things unless it's their birthday or Christmas. If they want to buy something on their own, they know that they can earn the money by doing chores. They can do lots of chores and earn lots of money, or do no chores and earn no money. It's up to them. They do not get an allowance. Sometimes they are really motivated, do a ton of chores, and earn $10 in a few days (and make me very happy!), and other times, weeks will go by without them doing a single thing. But they have learned that the harder they work, the more they are rewarded- not only do I give them their money, but I tell them how proud I am of them, and I'm able to spend more time playing with them instead of picking up after them.
There are a few things I expect them to do without compensation: put their things away, make their beds, and keep their rooms relatively neat.
If you don't want to compensate them with money, maybe they can earn TV or computer time with their chores instead. Or you can go out for ice cream (or some other thing that everyone agrees upon) if they all do their chores. Of course, it will help if your partner is on board and you present this system together. You can also ask the kids what chores they would like to do. If they help you set up the chore system, they will be more likely to do it.