How do you get kids to do what you want them to do?

Praise them. Appreciate what they do. And when they would know that you really appreciate their work they will be happy to help. Or you can work beside them. Ask them to help them side by side. And tell them that you feel so unburdened and happy when they give you company while doing something. My kid often helps me in making the bed or getting little things from here and there, or clearing up the mess when I tell him that I really like the way he does the cleaning, as he does it the best, better than his dad.