I taught my 2 sons to tie their shoelaces. Each at 5, because kindergarten said they wouldn't allow kids to attend wearing laced shoes they couldn't tie for themselves.
And teaching each of them, 4 years apart in age, to tie their shoes is one of my happiest & proudest memories. Proud for them, proud for me, and in each case we did it in a single easy session at just over 15 minutes long. Smart boys!
I used the Army "by the numbers" step-by-step approach to teaching physical & mechanical skills. Worked beautifully in this case, perfect for kids at an early stage of cognitive development.