Debian comes along with a nifty little script to add all the symbolic links you need to the
/etc/rc.* directories. Run the following,
/usr/sbin/update-rc.d mysql.server defaults 99
This will create the links starting
[K|S]99mysql.server in the relevant directories. Do a
man update-rc.d to find out more about it.
This would appear to be possible on Ubuntu aswell since it came from Debian.