I tell my DH we have kids so we can put them to work!

My boys are 7, 5 and 4 and they've been an integral part of keeping our house clean ever since they became mobile. Granted, they're also an integral part of just about every mess that's created so it's probably a wash...
We're in NJ, too, and lots of folks around here do have cleaning services or independent cleaning ladies. We used a service for a brief time but I found that I spent so much time de-cluttering/cleaning before they came (I know, I know... ) that it defeated the purpose. DH and I both work full-time outside the home so it can be an effort to find the time to clean but it is what it is.
Give that little girl a Swiffer duster and let her go to town. It won't be perfect and only the lower half of the room will get clean but she'll have fun and she'll get better in time. Both of you toss damp rags on the floor and push them around the kitchen with your feet and see whose rag gets dirtier.
My 7 year old has become a pro at vacuuming, give my 5 year old a step stool, a rag and some Windex and the windows and mirrors will be gleaming in no time and my 4 year old is our official "picker upper" of toys and mover of chairs while the oldest vacuums.
Yeah, keeping a house presentable does take time but it's one of those things that when you do it a little at a time it all gets done eventually. And then starts all over again...
As far as saving money, you could either go cold turkey and skip the cleaning service entirely or talk to them about scaling back to just bathrooms and kitchens and see how that works for you.
My personal feeling is that whether you have a cleaning service or not, it's still important to teach kids how to keep a house clean (or a lawn mowed or a driveway shoveled, etc.) as it's one of those life skills that will help them when they're on their own and before they can afford to hire a service of their own.
