DS is 19, and I love him to bits. I have been a single parent for many years and have 2 DC, DS and DD (2yrs old).
I can't talk to anyone in the family about this, because they rant and moan at DS, but support him wholeheartedly to mine and my DD's detriment.
Basically, the situation is all my fault, and I accept that, but now I am at a loss as to what to do to help DS grow up and take responsibility for his own life.
DS has lost his job
and is unemployed atm, and is also doing a part time college course. Since he lost his job, he lays in bed until afternoon, because he stays awake until 3/4 am, and also he doesn't want to be near DD. He complains DD has dirty hands and he doesn't want DD messing up his clothes. When DD is scrupulously clean, he still doesn't want her near him, in case she thinks it's ok to be near him, then comes near him, or touches him at a later time when she has dirty hands. 
He doesn't seem to know how to play or interact with DD, apart from telling her to leave him alone, get out of his room etc.
I understand DD can be tiring, but she is my little girl, and she doesn't think like a 19yr old, although my DS says he will treat her the same as anyone else he comes across, who are all young adults.
There is a great deal of resentment from DS to DD. 
I cannot seem to get through to DS. 
I support him totally, there is no financial contribution from DS at all. He spends his money on driving lessons, a mobile phone contract (which is in my mother's name), and going out enjoying himself.
He says he cant stand to be in the house for long, it drives him mad, which I can understand.
While I get no financial contribution from him, he also does very little to help around the house either. He wont do anything dirty like putting the bins out, or cleaning the toilet, he can't wash dishes (and even washes them in cold water unless I supervise him), he has recently begun to sweep floors, hoover upstairs and watch DD while I use the toilet, but he grumbles and moans about all these things.
I give him lifts when I can, and help him out in so many ways, I was taking him to work and back while he had his job. I have tried to help him sort his finances out, to the point he gave his bank card to me to try to pay off an overdraft, which we were having some success with, until he decided he could watch his money himself and now I have no idea whether he is still on the road to recovery or not.
If I try to make conversation with him, he will say 'What relevance is that to you?'
I just feel so unappreciated. He has free board and lodging, and extras like lifts and I even buy his bloody facial wash.
So in short, under duress and has to be asked every time, he will:
sweep floors
mop floors
cook simple dinners
dry washing up and put away
tidy his room
iron his clothes as and when he needs to
rarely make tea (I'm not having one so I'm not making one)
sort out my pc
a few more cant think at mo
He will not:
play with DD while I go to the toilet/shower
empty bins
clean toilets
scrape his own plates
wash his own pots
wash up at all
go near DD
help with gardening
go shopping with me to help (but will help me unload car when I get back)I find it almost impossible to shop with DD, she either has a full on tantrum from the second we get in the shop because I have made her sit in the trolley, or she runs full pelt all over the shop, so I ask DS to come to amuse DD while I am getting the things I need, and DS only has to come once a fortnight, but he makes such a fuss about it that I usually struggle on my own, because DS refuses pointblank in the end, and I need to shop, for DD and myself as well as DS.
lots more cant think at mo
pay anything towards his keep
It's all such a battle. 
Please come tell me how I get through to him.
I lived with an abusive XP from when DS was 13 until he was 18 and it feels like exactly the same thing again, apart from DS does not steal from me. 
lots more cant think at mo
pay anything towards his keep
I have to go out now, but will catch up later.
I always did everything for DS when he was younger (so I admit it is my fault) because I was made to do all the chores by my mother and grew up in a very violent abusive household, I just didn't want DS's childhood to be unhappy like mine was. Now it has backfired spectacularly. 
When we get on, (when DD is in bed) we get on reasonable well.
Helppppppp!!!!