This is like a cross between pick up sticks and drawing straws. Write different chores on a popsicle stick and put those popsicle sticks in a cup. Let the kids pick a stick. That is the chore they do today (on top of any other chores they are regularly responsible for). This works great if your kids have a wide age range. The laundry chore for a little one could be helping Mommy sort or matching socks, while a big kid gets to do the laundry. The trash chore for little ones could be emptying the little trash cans around the house into the big one, while a bigger kid takes the trash out. This puts a newer, more fun twist on "Take out the trash" Try it.
What is that one chore you can't wait for your kids to get old enough to do, so you won't have to any longer? Tell us in a comment.