This sounds very much like how we do things here.
I think that by doing all the chores myself when the children were younger, cheerfully, happily and willingly (presumably how you want your children to do their chores) they never picked up on the idea that chores are something to avoid or dislike.
Things just need doing. Sometimes when I'm doing something I say "Could you help me with this for a while?" and mostly the child just happily helps and we have a nice time chatting together while the chore gets done.
Now that the boys are older, it has worked out that they each handle certain chores every day. Sometimes they may ask me, or one of the girls for help to get everything done more quickly and, if possible, we would willingly help out.
We never have used charts or allowance or discipline to get the housework done, we just do it.