I'm still working on motivation, and I've been "at home" since I was merely planning our wedding, starting back in late '02/early '03. One DS joined me, it's gotten harder, because when he was bitty he just did NOT appreciate it when I was doing something other than playing with him (and I was too exhausted to just put him on my back in the podegi (traditional Korean babycarrier) and work), then when he got a bit more independent he reveled in doing things like....pulling all the VHS tapes out of the bookshelf 5 times a day (until I just left them there, which was a mess, but caused less work (cleaning up once after he was asleep) than if I picked them up each time!), etc. Now we're homeschooling.
When DH and I were both working, sure things were neater, but, and of course it sounds obvious, but there was NO ONE THERE DURING THE DAY. It was exactly the same when we got home as it was when we left. It's amazing how much easier that makes it!

Bathrooms stay so much nicer for so much longer when *no one is using them* through the day. Same with kitchens!
I imagine if we were both working and someone was coming over to use our house during the day and not cleaning up, we'd be a bit peeved when we got home! And that's what it's like when you have parent+child at home during the day.
We have the basic chores down...DH feels quite strongly that my main job is to "keep Eamon alive".

So everything else is much lower on the list, and he actually never expects more from me. We share most household things. I mean, if we were both working, we'd hire someone to watch DS, and wouldln't expect him/her to clean the house as well! We'd still both get home and have to do the chores. So our routines for that stayed about the same from when we were both working, to when only he was working, and to when DS joined us.
But it's the organization and other things that really get me. We continue to have just too much stuff for the place, and I'm growing sicker and sicker of having stuff with no "home". So it's a constant problem, with just trying to figure out where on earth things should go. We've been here for 2 years now...we really should have figured this all out. DH is cool with just boxing things up and not looking at them until we leave, but that's what we've been doing for years, and it's never NOT been a problem!
Good luck!