R.J.
DON'T make it stressful.
My H made tying shoes suck a big freakin deal (it's the end of the world as we know it) when my son was 4, that my EIGHT year old son breaks out in a sweat and starts hyperventilating when someone suggests he tie his shoes, or offers to show him. Just to cement the problem my H still shoots little "digs" my son's way (All your friends can tie their shoes, you don't wan them to think you're a baby, do you? ... You don't want people to laugh at you... Why don't you get you TIE shoes... no YOU tie them, you're EIGHT years old for ****s-sake.)
Can I strangle the man, now?
But just an "ease an comfort" kind of thing... my son is 8, can't tie his shoes, but wears shoes without help just fine. He just snags the pair of zip-ties, or elastic, or velcro, or zippers, or clipped sneakers/ hiking boots/ sandals/ etc. instead of tie shoes to ask to try them on instead of the ones with regular laces. So there's no need to stress how fast he learns it. I would rather my son knew how to tie his shoes, but he has no problem finding shoes without laces that are "big boy" shoes and aren't dorky looking.