My DH had very high expectations of himself as a father. He would spend time with his nieces and nephew and think "This is good, I can do this". And was very keen to become a Dad.
The reality was somewhat different. The sleep deprivation, the feelings of helplessness when he wasn't able to comfort them or even comprehend what was the cause of their distress, the sheer monotony and tediousness if some aspects of parenting. BUT in all this he was doing his best - he regularly bathed them from newborn, changed nappies, went to parent and toddler groups, prepared and gave food, took them shopping, to the park, to visit friends, etc. Once they stopped breastfeeding for a chunk of the day I would leave him to it.
He got stressed, upset, felt down about his parenting skills. Erm, the same as me at times! Likewise, he had fantastic times and felt elated about what a great day/time/experience they shared.
There were some things that I would take the lead on - swimming, discipline, structure but only because I'd had 11 years of nannying experience to draw upon. Sometimes he'd throw that back at me but whilst it gave me alternative ways of dealing with something I was experiencing it with our children for the first time too. Some things worked, some didn't
It sounds like his confidence has been knocked but I would suggest some tough love. It wonderful get better until he does these things for himself and realises he CAN. Take a step back. As long as your DC is not in danger leave him to it. Try not to micro manage him. It might be hard at first but you'll reap the rewards in the long run.