Princess101, I'm also a full-time homemaker and have a live-in domestic helper. I made it very clear with this one (she is my second) from the onset that her primary responsibilities were cleaning, laundry and cooking and that her secondary responsibilities are childcare and grocery-shopping. Maybe your helper needs a little more direction about how she can help you around the house. You might want to have a list of "projects" that you want her to do for you when she is looking for something to do - reorganizing the closets, cleaning the refrigerator, shelving books, etc.
However, my first domestic helper really wanted to only do childcare and was not interested in doing the cleaning, laundry, cooking. She would pretend not to be able to understand what I wanted her to do, so that at times, I would end up so frustrated that I would do the household chores myself! She herself suggested that I hire another person to do the work we wanted her to do. Obviously, we had to part ways.
In short, you'll need to find out if your helper is both able and willing to do the job you want her to do. Be clear, firm and don't feel bad about repeating yourself. You are not being unkind, but consistent. Until she's familiar with your routine, you may even have to add that you'll ask her for her help with childcare when you need it. Good luck and hopefully, you'll feel more comfortable in your own home soon!
it took me a while to get to that point though. 