If you have a hamper system for laundry, consider having a small one for each child. On laundry day, they can easily sort whites from colors for you . They can throw it into the washing machine and add detergent under your supervision. With dinner napkins they can learn the basics of lengthwise and crosswise folding. Then progress to their t-shirts and shorts.
Socks are a good game for five year olds.
They actually enjoy learning to match them and tuck them up like kangaroos. You're in charge, but remember to step back In all of these tasks, it is important to be in the position of supervisor. If you jump in too readily to help, your child's frustration level will be very low. Let them get a little frustrated, especially when you are sure they are capable of being successful. When they do succeed, heap on the praise.