I have someone come in every other week, at first she ironed (even my dish towel and underwear!!!) I told her I would rather she did the windows and mop the floor every once in a while, and she does that splendidly.
I buy her something for the holidays and her birthday, and I admit I forget sometimes to leave money. I am hardly ever home when she is there, and if I am I feel I am in the way all the time. But I always pay her the next week, with a generous tip.
She does it saving up for holidays etc, not for costs of living so she doesn't mind too much, and she knows I am good for the money. I'm just a bit of a spacey boss.