Fill one 2 and 1/2 gallon bucket with warm water. Add whatever cleaner you use to mop (if applicable). Allow your kids to wrestle in the kitchen until the entire bucket gets dumped on your kitchen floor.
Spend the next 15 minutes soaking up as much as possible with a sponge mop. Be sure your mop handle is long enough that you don't have to bend over too much and strain your back. This is an excellent cardio/upper body workout.
Grab a clean(ish) bath towel. Toss it on the kitchen floor. Stand on the towel with feet shoulder-length apart. Without lifting your feet, scoot around the kitchen floor, pushing the towel over every part until the floor is dry. This should take about 10 more minutes, and makes for great leg exercise.
If your whole body isn't burning by now, move on to the next exercise:
Get a cat, preferably one that's scared of strangers and still mellow enough that he's not likely to scratch or bite the kids no matter what they do. Invite strange people over and let the kids torture him until he develops a stress-related shedding problem and takes to hiding under the bed.(Boxer, my beautiful but neurotic apricot-point)
Move the bed out and vacuum the same spot of carpet for 15 minutes. Give up on your vacuum and get the broom. Pull broom over carpet in short brisk strokes for about 20 minutes until all the cat hair is out of the carpet.
Repeat monthly for biceps of steel.
Stay tuned for more great home exercise ideas. I'm going to have a Tylenol and a nap.