First, let me suggest freecycle.org as a great place to not only getting rid of clothes, but anything else that is cluttering up your life as well. I belong to the KC one, which is quite large, and also the Gardner/Olathe one, which is also a decent size.
As for a house cleaner, let me suggest, Shera Schrum. Her number is ###-###-#### Her rates are reasonable and she is able to do a one time cleaning if you would like some help before your parents come.
As for laundry, I would suggest doing a load or two daily. If you use All Free and Clear, you can wash the entire families clothes together. Maybe you can wash during the day and your husband can help you fold when he gets home in the evening.
My friend swears by flylady.com It is more of routine, but there is a little bit of motivation in there too.
Good luck!