... if you go the au pair route. The agency fees are around $8k per year. The Au Pairs get a $195.75 weekly stipend. They aren't considered domestic employees by the IRS and you don't have to pay taxes or withhold taxes from them. All in cost is somewhere around $20k/ year.
There are restrictions. They can't work more than 45 hours a week. They can't work more than 10 hours a day. They have to have 1.5 days off every week. They can't be alone overnight with the kids.
Their household duties have to be related to the kids. So they can cook and clean and do laundry. They can't do the parents' laundry though. Obviously for most families with young kids that's a huge help. They can get the kids out the door to school, make lunches, watch the kids while you're at work, go on dates, go to the gym,...