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It would be different if the person was in poor physical condition and couldn't help out, but if someone is still able bodied, they should help or they shouldn't be there in the first place. Look at it as if you had your own place. At some point chores need done as we all know. There's cooking, cleaning, and even laundry as much as we hate it but all of those chores are important to keeping a home running well. Having someone there who doesn't contribute anything to the household is an unnecessary burden because they're just in the way if they're able bodied and in the financial position to contribute and don't. Putting myself in your shoes, I would never have anyone living with me who was in a position to contribute and doesn't, it's not fair to you and the rest of your family. If this person is able bodied and in a financial position to contribute, expect it, strongly encourage it, and even require it by setting those rules. Have consequences for broken rules, this is part of setting boundaries and not letting anyone take advantage of you. Show hospitality, but don't let people use you