When your kids are grown you are not going to look back at this time in your life and say "I'm so glad I cleaned those dishes, and my bathroom floor was sparking!". You're going to remember reading a book together, or just doing the best you can. Don't worry if things are messy sometimes. You wash the dishes and you feel better for 5 minutes until someone sticks a cup in the sink. We all can only do what we can and that has to be enough.