Chores, When is a good age to start?

Growing up I didn't have any chores but to keep my room clean. That didn't start until I was in middle school or so. By that time my old habbits were hard to break. I also knew that if I waited long enough that my mom would eventually clean it. When mom would do it it was spotless! She didn't just tidy up she cleaned up.

Aside of my room I did help my Granny do things but it was never a chore. We had fun doing it and what made it fun was the fact that it was not chores, we were helping. Princess helps me with things around the house. She helps me tidy her room, put sipper cups away, throw away trash put some groceries away and pull together her laundry. She is 3. I figured this is a good age to start. I do not ask the world of her. I simply want to get her started in what she should be doing. I am not hard on her but I do want her to learn early. Guess you could say I learned from my mothers mistakes.

Now the reason I ask this is because I am in Florida for the month with my parents. They raise my nephew. They are treating him like he walks on water. You would think they learned from me. This kid is good but you can tell he is going to be lazy and not do anything when he gets older. He doesn't return his dishes to the sink, he doesn't ask nicely for things from my parents he is an all around demanding kid. He doesn't eat healthy and they don't push him. It is all very frustrating. He is almost 7, which makes it worse.

So I ask you, When did you start your children on any type of chores?