You can give kids an allowance to allow them to buy things they want and if they want to do other jobs around the house to earn money then it can be a good way to teach kids the value of money and what it takes to earn that money.
But just doing routine chores that they should be doing I wouldn't be paying them with money because then they would start deciding that they won't do the chores until or unless you pay them.
You can start kids doing some simple chores around the house as young as 3 to 4 which is when some kids want to begin imitating and helping their parents around the house.
You can have then use the vacuum cleaner to help vacuum with and some will have fun doing that.
You can also have them help pickup their toys and put them away and then as they get older as in 7 or 12 have them do more chores such as taking out the trash, mopping the floors etc.
When they get to age 12 they can usually begin using a push lawn mower and help mow the lawn.
Just start having the kid do chores that are appropriate to their age.