You know when you're in a hurry or frustrated and you rush in to finish something for your child? As mundane as this may seem in the moment, this actually inadvertently creates a missed opportunity for your child to develop skills and build self-esteem. Practice acting as if your child is able to do said task (tying a shoe, clearing his or her plate from the table, etc) and see what happens!
Application: If your child is embarking on a task and he or she asks for help (verbally or nonverbally) respond by asking your child to pretend to know how. You'd be surprised at how much of a task your child already understands just by observing others. Even if your child does not master the task, you can use this as an opportunity to provide encouragement by saying something like, "It looks like you already know a lot about this!" Your child will gain a sense of confidence and be more willing to take risks in the future as a result.