This is not about manipulation; it's about letting the right person for the task do it. If they're willing, happy, and most competent at the task, leave them be and don't interfere. Many of us carry guilt about letting someone get on with something, even where that person has made it clear they're best doing it on their own, because we feel compelled to help; sometimes our help is nothing more than a hindrance, and at other times, it can be viewed as overbearing and unwelcome.
For those in management positions, trust that your staff, child, or volunteer is capable and don't over-manage or over-parent them. Doing less managing gives employees, children, or volunteers the freedom, the chance to explore their creativity, the room to learn on their own, and the space to succeed and fail. The less you do, the more others figure out how to do things. You can guide and teach but don't interfere. It's best to share the cleaning, cooking, organizing, and garbage removal duties. Most people usually find them inherently tiresome, so share them for a sense of togetherness at least and prompt progress to something more enjoyable. It is quite possible that household duties are the original source of the wrath against laziness! Delegate and trust your delegation. Many hands make light work, for everyone. Give everyone the chance to go home earlier by sharing the burden as a team or group, whether it's work, the local church gala, or a big wiki meet-up.