My Dh is very supportive and my children are also old enough to help out. We have a chore schedule that we stick to.
My boys and I take turns doing the dishes every night. They are also responsible for cleaning their room, dusting and vacumning Living room and cleaning the bathroom every week.
They do their own laundry and Dh and I do ours.
Dh takes care of everything outside and the cars.
I keep the floors swept and mopped and keep our room clean.
The boys keep the trash under control and feed and water the dogs.
Keeping everything evenly divided helps everyone do there part and no one feels like he or she is doing it all!
As for the romance lets just say you have to be creative and it keeps the sparks flying!