I was able to to the following, based on the post above:
- sudo apt-get install sysv-rc-conf
- sudo sysv-rc-conf
- mark the 6 column for mysqld or mysql.server (6 = reboot)
Note: I tried sudo update-rc.d mysql.server defaults and it didn't work. It gave me the following error: System start/stop links for /etc/init.d/mysql.server already exist.