momsy, i agree with you that life is full of boring tasks that i do because i have to do. i can see how other people rationalize the benefits of things (like going to the DMV), and therefore say they're motivated by their own self-interests, but i am not. i hate the DMV, it bores me, and i'll put off going for a year, but eventually i give in and go when i have to.
i also see your point about struggling with how to teach your child to do something he doesn't want to do. but, i really think that it's not something you can teach a 9 year old. i think you can model it, and you probably do. i think every time you take your son on errands with you, you're teaching him that there are certain things in life that you have to do, like it or not. and you're probably also teaching him that you can find a way to make it more fun (like, by bringing someone you love with you).
now, if your son were 15 and still not getting it, then i think more urgent action would be necessary. but if it were me, i wouldn't be overly concerned at 9. i TOTALLY get wanting to protect your son from making the same mistakes you did, but i really think you have some time still.