As I read your post I think back to how it was when I had young children and felt that my life no longer belonged to me as I was in demand by so many. I often felt frustrated and overwhelmed. I tried to be the Halmark Mother and I failed miserably as there is no such thing as a Halmark Mom. We all have to find our own way to be comfortable in our role and still cut out some time for us.
Here are a few ideas.
Take time to just be with your children. Too often, days pass in a rush, do this there blur, and we don't get to spend real time with our families. Take at least a few minutes out of your day to connect with your kids.
Take care of yourself. Whether you think so or not, you are the most important person in your life and deserve to treat your mind and body well. This is also important to your family. A vast overhaul is not necessary. Just take one small step, such as scheduling an overdue doctor's appointment or adding more of a favorite fruit to your diet.
Don't be so serious. Really! Make sure to put a little fun in your life every chance you get. Read that book you've been meaning to pick up. Put on warm clothes and go sliding. Play a board game and drink hot chocolate (or lemonade in the summer). Take up something new that always looked fun, like kayaking, knitting, or drawing. The point is to remember to focus on the fun in order to offset life's routines.
Resist the urge to become stressed and overwhelmed. Feel like you are overloaded and don't know where to begin? Are you stressed over a situation with work, family or health? Break it down into smaller, manageable chunks. Instead of trying to finish a whole project in an unreasonable amount of time, do one small thing. Tommorow is another day.
I hope this helps you in some little way and I wish for you peace and happiness, but most of all I wish you love.