How do you teach your kids to do chores?

i did it myself and the kids never learnt, probably because they got confused about mom doing it and dad not doing it. now i have made it clear that my kids have to do their things on their own. such as cleaning their cupboards, making their bed, arranging their books and so on. i don't do it for them, and when they are unable to find something, or the bed seems dirty, they have no choice but to do it.