We have a magnet board that has days of the week across the top and a chore and some other type of accomplishment along the side. When my 3 yo completes the "task" then she gets a magnet. It sounds very simple but she doesn't know any different. It's very rewarding for her. I also have used checking books out from the library as a reward.

Thank you for the checking books out idea: I'm going to implement that one immediately. We have paper gold stars that we hang from my 6 yo's bed for accomplishments. Right now we're working on getting out the door without hassle: he chooses how much time he thinks he'll need, he follows the list of things he needs to do - get dressed, brush teeth, etc., and he gets a star if we don't have to remind him of anything and he's ready in time. It's worked great! He's very proud of himself. He's also happy with the reward: one cookie for every 5 stars. He chose that, not me. I think I got off easy...