It's easy to fall into the trap of the mother being seen as the "expert" on baby care and therefore the father has to be asked to "help". The world will generally set you up to think this way, from advertising to family/friend's expectations.
If you've fallen into a pattern where you do things, all (or most) of the time by default, it's unlikely that he'll just step up out of the blue and start doing child care tasks unasked - if questioned he'll probably say something about waiting for you to ask, or that he doesn't know how, or that he'd probably do it wrong.
Can you leave him with dd and go somewhere so that he can get used to doing feeding/changing/cleaning on his own? Or get him to take dd out somewhere?
He won't have anyone to ask if you're not there, he'll just have to get on with it and muddle through, just like you did when dd was first born. He'll not break her, and he'll not break himself.
You can also agree certain jobs that are his jobs - for eg dh did bath and bed time most of the time for our two when they were little. I didn't get involved unless he wasn't available or I just fancied doing it for a change. Dh really valued being 50/50 involved with the care our children, but I can easily see how we could have fallen into me doing 90% of the work and my own mother initially disapproved of how much I had "poor dh" doing
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