Sequential processing of asynchronous tasks

Assume the following synchronous code:

try
{
    Foo();
    Bar();
    Fubar();
    Console.WriteLine("All done");
}
catch(Exception e) // For illustration purposes only. Catch specific exceptions!
{
    Console.WriteLine(e);
}

Now assume all these methods have an Async counterpart and I have to use those for some reason, so simply wrapping the whole thing in a new task is not an option.
How would I achieve the same behavior?
What I mean with "same" is:

1. Execute a handler for the exception, if one is thrown.
2. Stop execution of the following methods, if an exception is thrown.

The only thing I was able to come up with is horrible:

var fooTask = FooAsync();
fooTask.ContinueWith(t => HandleError(t.Exception),
                     TaskContinuationOptions.OnlyOnFaulted);
fooTask.ContinueWith(
    t =>
    {
        var barTask = BarAsync();
        barTask.ContinueWith(t => HandleError(t.Exception),
                             TaskContinuationOptions.OnlyOnFaulted);
        barTask.ContinueWith(
            t =>
            {
                var fubarTask = FubarAsync();
                fubarTask.ContinueWith(t => HandleError(t.Exception),
                                       TaskContinuationOptions.OnlyOnFaulted);
                fubarTask.ContinueWith(
                    t => Console.WriteLine("All done"),
                    TaskContinuationOptions.OnlyOnRanToCompletion);
            }, 
            TaskContinuationOptions.OnlyOnRanToCompletion);
    }, 
    TaskContinuationOptions.OnlyOnRanToCompletion);

Please note:

• I need a solution that works with .NET 4, so async/await is out of the question. However, if it would work with async/await feel free to show how.
• I don't need to use the TPL. If it is impossible with the TPL another approach would be OK, maybe w