I was shocked at how well this worked out -- I assigned my oldest to help me clean up the kitchen after supper. Alone, just DD and me, working. But we talked as we put away the perishables. (DD is 10).
When we finished, she said, "I WANT TO HELP YOU DO THIS TOMORROW." !!!
So, think about assigning a chore that you can do one-on-one with each child.
Examples:
loading dishwasher
wiping counters
dusting/polishing
making beds
folding laundry
Not anything noisy (like vacuuming) or far apart (like picking up trash in the yard).