As early as possible! My 1-year-old is at a "monkey see monkey do" stage now and we love that whe you hand her a bimpo or wet wipe, her automatic response is to do "punas-punas" :) She even wipes down her favorite stuffed animal! We also let her watch while we cook so she understands the process and preps that go into meals. This makes her more patient and she understands that she can't eat things right away because they're hot.
There are age-appropriate chores for kids :) maybe training a little early may help. You can teach your baby as early as one year old into piling up his/her toys after use. Provide a small box and you can teach the routine every single time. I remember when I was a kid, I had my one walis tambo and dust pan. The kiddie sized ones! Why not get your kid one of that too? :) Here's a chart of chores according to age
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