Not enough details to know if your husband is a jerk or if he's clueless or if you thought you knew better and chose to do the majority of the parenting tasks so he figured that's how you want it. You don't say if you communicated your wants to him or not, or expected him to read your mind or expected he should step up on his own and you have arguments that he hasn't.
I'd begin with asking for what you want. Don't use vocabulary that will put him on the defensive like, "You never XYZ." Just say, I've been so tired lately. While I do the dishes, I'd like you to bathe our child."
I don't know if your husband is lacking confidence. Maybe he didn't have a good role model. Maybe he's never been around kids much. If so, guide him and with practice, he will feel more comfortable. Don't criticize him if he's doing things differently, as long as it won't hurt the child. Rewarding him with your smile and positive words will have him wanting to repeat the activity and should have him bonding more with your son.
And if you have trusted relatives, etc., who could watch your child for a monthly date night, do so. And you can assign him to plan every other outing.
I'm assuming he's a decent man, because otherwise why did you marry him and think that adding a child would be adding to your familial love? Some men need concrete directions, not vague statements like you want him to help out more around the house. Yeah, it'd be nice if all partners would step up on their own, but if not, ask for what you want, see what happens, and go from there.