Let's face it... chores stink. I had to do very few of them as a child, always viewed them as punishment and grumbled and complained when I first became a wife and a mother that I had so much work to do. However, I will never forget an experience I had with a family early in my mommyhood days and it entirely changed my view on the whole idea of "chores".
The family that blessed me explained that it all boiled down to relationships and the key to every relationship is humility. Of course our sinful nature would have us serve no one other than ourselves, but when we humble ourselves before one another we will serve one another. There are so many great and practical Scripture references on this but one of my favorites is, "Be kindly affectionate to one another with brotherly love, in honor giving preference to one another." -Romans 12:10
When we teach our children to serve one another (and model it as well ourselves) "chores" do not become relegated to some separate job that has to be done "or else". Hope this makes sense.
Of course, there is always the "no work, no eat" principle as well.... :)