Smart homes equipped with ambient sensors offer a transformative approach to continuous health monitoring and assisted living. Traditional research in this domain primarily focuses on Human Activity Recognition (HAR), which relies on mapping sensor data to a closed set of predefined activity labels. However, the fixed granularity of these labels often constrains their practical utility, failing to capture the subtle, household-specific nuances essential, for example, for tracking individual health over time. To address this, we propose DISCOVER, a framework for discovering and annotating Patterns of Daily Living (PDL) - fine-grained, recurring sequences of sensor events that emerge directly from a resident's unique routines. DISCOVER utilizes a self-supervised feature extraction and representation-aware clustering pipeline, supported by a custom visualization interface that enables experts to interpret and label discovered patterns with minimal effort. Our evaluation across multiple smart-home environments demonstrates that DISCOVER identifies cohesive behavioral clusters with high inter-rater agreement while achieving classification performance comparable to fully-supervised baselines using only 0.01% of the labels. Beyond reducing annotation overhead, DISCOVER establishes a foundation for longitudinal analysis. By grounding behavior in a resident's specific environment rather than rigid semantic categories, our framework facilitates the observation of within-person habitual drift. This capability positions the system as a potential tool for identifying subtle behavioral indicators associated with early-stage cognitive decline in future longitudinal studies.