They have chores on the days they don't see there dad (we recently set them up). It used to just be D9 setting the table and S13 cleaning up after the dogs.
I sat down with them and showed them a list of all the work that had to be done each week, and they picked what they would like to do on each of 3 days. We are off to a bumpy start, but it is a start.
We are trying to squeeze things in, but S's schedule is tight. Scouts on Mon, Youth group on Tues, Skiing on the occasional Wed, therapy on the occasional Thurs (their time with their father is Wed and Fri night). I'm also trying to keep Thurs as our Family Game Night, with one kid picking the game and the other picking out and helping cook dinner.
Its all about baby steps, but a magic wand would be handy right about now.