Same as poolo here! Martyr mother who would not let me do anything, then would bitch that nobody would help her and how lazy all us kids were, she was just a scullery maid etc
I used to offer to help tidy up after dinner as a teenager FFS! And I remember how much she shouted at me when I was 7 and I tried to make her toast on Mother's Day - apparently all I did was make a big mess for her to clean up. Toast!! Nice middle class household too, apparently 
So when I left home I had no idea how to cook. I was really really dreadful at it. Also couldn't use laundry machine, budget (learnt some hard lessons with debt as a result) etc. I certainly couldn't boil an egg.
Anyway with the help of DH (who, thank my lucky stars, I met at 18) I learnt how to function as an adult. Now 12 years on I am an excellent cook, I'm very proud of myself for learning as an adult the things I was never taught or allowed to do as a child (I would've loved to have cooked! My mother took away books from me that suggested activities like baking
as it would cause her "too much hassle") 

Makes me so angry to think about it now I have my own DC. DS is 2 but I get him to help me with all the household things - tidying up after meals, putting away toys, put on the washing and hang it up, helping me to cook (eg "painting" salmon with honey and soy marinade before I put it in the oven, making porridge, using the Nespresso machine to make me a cup of coffee - all closely supervised of course!). Long before he and DD are 18 I want them to be able to cook meals and look after themselves.
I personally feel, given my experience, that it is a type of child abuse to not teach your child the skills they need to live independently. My parents would say they wanted me to focus on my academic work, but that is a red herring. Beyond the "oh let's have a baby/cute baby and toddler" stages they couldn't be fucked doing a proper job of raising a child into a fully functioning adult. THAT is what I think of people who don't let their kids help out/do chores/cook.
Sorry for the rant 
clearly I feel strongly about this 