I am a stay at home mother of a one and two year old, how do you schedule your house cleaning so that it......

not interfere with time with the kids? I absolutely feel soooo guilty for cleaning my house while my kids are awake, but I cant let the house fall apart and wait until they go to bed for the night, because I would be up until three. Trust me, I have tried it. I feel like such a sorry mother by going in a nother room and letting my kids play in the living room while I clean our bedroom. It is really starting to affect me. Some nights I will sit on the couch and just cry because I feel like I have missed one or two hours out of my children's day !PLEASE HELP! any suggestions? Whats your schedule like how do you make it work?