For a while there, I was popping Josi in the sling, and turning her to be on my back. Then I'd vac the floors or stairs, sweep and mop, do dishes. It was the one thing that surprised me, that I could do it, and that Josi would sometimes fall asleep!
Just give yourself a goal of a clean kitchen at first, then once you get that, slowly work on getting other areas. I would tackle bathrooms next. Those are the two rooms that people tend to notice if they are messy/dirty most. Take it in 15 minute spurts, set a timer. It helps to do it like that, makes it less oppressive. The harder it seems to be, it can actually tire you out mentally!
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