I second this 100%. Even having a cleaning service come once a month is incredible. House cleaning has been a sore spot between my fiance and I, and this resolved the conflict entirely. It's been life-changing.

Our house is pretty small - maybe 1600sqft - and we pay $200 including a >20% tip. We live in a major city where cost of living is pretty high.

Finding a private company/small business owner is the way to go. If you contract through a large company (molly maids, etc) they're taking money off the top and less of that fee goes to the individuals actually doing the work.