In order to save time, or because it is indicated in your weekly schedule, you can do the chores while you look after the children. When you are cooking you can already rinse dirty utensils, pots and pans and put them in the dishwasher. You'll have the kitchen in good order when you sit down to eat, and you'll have less to clean up after dinner, thus clean as you go.
It is important to pick the right moment for doing the chores if you need to look after the children at the same time. You can for instances do some chores when the children have their nap or when they are busy watching TV. Please make sure that the children cannot reach for / drink the detergents. Beware of ironing clothes in the presence of children, if they pull the robe of the flat iron it can fall down and cause burns.