You don't mention what version of InDesign you are using. CS5, CS5.5 and CS6 all allow you to export to HTML. The problem is that the HTML is version 4 and it create badly written CSS. What I like to do is to use XML to build my own HTML. Just create a set of HTML5 tags you want to use and then Map the existing Paragraph and Character styles to the XML tags.
When you're done you will have a basic content structure. Then I use the Structure pane to add different elements as needed. You can add Parents or children as you need to right there and then export to XML. When you save the file, just change its name to .HTML and edit the code to remove the one reference to "xml".
It takes a little time, but it is very doable.