Teaching responsability is not a single lesson , it happens over time after many lessons throughout childhood ( and beyond?). One easy tangible way to start is to have a simple chore chart of responsabilities.
We made ours modeled after the "Helping Hands" chart at my son's preschool. I did this for two reasons, one he is familiar with it and two there are no prizes or stickers just a good feeling of helping and being responsible.
Gather your materials. You will need 2 sheets of card stock or construction paper, some marker, double stick tape, and a psper clip.
Trace your child's hand on the card stock and cut out.
Start by writing out the chores you choose, try to make them easy enough to do daily but still something they should be responsible for. I had my son help me decide on his responsabilities. I was reluctant to put in cleaning up baby toys but it's something he likes to do that is a real help to me so we added it in.
Tape the responsabilities onto the 2nd sheet of card stock and clip the hand on using the thumb to point to the responsability they are helping with that day.
What I like about this chart is that you don't feel like you need to do everything daily since there is nothing to check off, you can do one, all or none depending on the day.