When I first started getting the kids to pitch in, I really had to be a drill sargent. I had to literally stand with them and constantly tell them exactly what to do and how. But, it didn't take very long before I didn't need to supervise as closely. If you stay consistent, they will get it.
Good for you momma! I know a lot of moms that give up because its "faster to do it myself". That's totally true. But sticking to it is well worth it.