Is it too late to start a daily routine or schedule, and how do I?

I have been home for 5 years and never had a schedule. I have 3 girls 9,4 and 2 so I just do things as they come. I don't have anyone telling me what to do and my hubby only cares if there is dinner on the table, he can care less of any mess laying around. Im not a messy or dirty person, but i am unorganized. He is at wk from 8 am till about 9pm and its finally getting to me not having a routine. I would also like more me and him and i time. My girls don't nap and they go to bed when im in bed! Please help how can i start a daily schedule or routine? Is it too late to get my girls in a routine as well? I need to know how to assort laundry, kitchen, bathrooms, kids rm, daily activities and the gym in one routine and its already driving me bananas lol! Thanks to all you wonderful moms that can do this!