Figure out how often each chore needs to be done, and set up a system so that chores rotate. It's perfectly acceptable for people to permanently trade chores. My partner traded me cat litter for watering the plants years ago, and we both thought we got the better deal. Write your schedule down and post it somewhere public - the refrigerator, for instance. I think it's helpful to spread chores out across the whole week between all family members.
Most chores are really pretty quick - cleaning the bathroom takes about ten minutes, for instance.
If you pick Monday as bathroom cleaning day, Tuesday as vacuuming day, etc., you won't wake up on your day off and feel like you're going to work. This schedule should work fine, although your days off change. Even on a workday you should be able to fit in one or two fifteen minute chores. I know you've been procrastinating about a lot of this stuff, and it probably hasn't been getting done regularly in the past. With your new system you will be less likely to procrastinate.