Trying to Help my Husband

So me and my husband have been married a little over two years. He had some sexual abuse happen with an aunt when he was 7 and ever since then it's affects him. He has a bedwetting problem. I know it sounds ridiculous, and I don't want to embarrass him. I'm 23 and he is 24 and I love him so much but he has pretty much no self worth. He has a lot of anxiety in public so it's hard to go anywhere with him without him having a panic attack. He were the bed almost every night which puts him into another panic attack. And I know it seem like I'm complaining, but I'm just worried. I hate seeing him in pain. I kinda just avoid going somewhere too crowded to help with his panic attacks but when he wets the bed (which is almost every night) he goes through another one. It's a repeated cycle. I wake up at 2 in the morning soaked in urine. He wakes up, starts going into a panic attack and crying. It takes 30 minutes to an hour to calm him down completely, and repeat each night. I'm house wife so the sleep isn't too big of an issue for me, but he works with his family in construction and has to get up early and he doesn't get back asleep until almost five. I love him and it hurts seeing the love of your life in pain. How can I help him.

Update: My husband has started going to therapy! We have kinda been putting it off for a few years now, but he's going and has been doing a bit better. He is also on medication. We are able to out in public now. His panic attacks aren't as bad and he's been doing better on wetting the bed. Only about one night this week. IDK why we kept putting off therapy and medication but I wish we had done it sooner. I'm so happy to see a happier husband.