Boyfriend got embarrassed in front of my friends

My boyfriend doesn't really fit in with my friends. He's awkward and so shy. I don't mind that at all and like that about him. My friends were clothes texting me saying he's weird and never wants to do anything fun and boring and stuff like that.... I defended him but he saw the texts... I told him I like him just the way he is, but if he felt like he had something to prove... My friends invited me rock climbing but I promised my boyfriend we would read the book we are reading together. We used to watch Netflix and Hulu shows together but he's a reader so we started reading books together and we've fallen behind and wanted to read it, plus he has a severe phobia of heights but he was saying he wants us to go. I asked why and he said he thinks it will be fun and I told him he doesn't have to prove anything to my friends. He said he really wants to go. We got their today and my friends were being dicks telling him they bet he won't make it to the top. I told them to stop being fucking dickheads. We started climbing and he looked sick before we even started. I told him we could go but he said no. I was very focused and me and my friends were talking. I noticed my boyfriend had made it maybe a 3rd of the way. Idk if he looked down but he was stuck and had tears in his eyes. I yelled if he was okay but he wouldn't answer back, so I started climbing back down. I asked was he okay and he wouldn't move. He was shaking so hard. And tears were falling down his face. I grabbed his hand and we started to slowly climb back now. He slipped and then started breathing heaving. My friends were yelling at me but I ignored them and tried to get him to come down. He was hyperventilating and ended up... Wetting himself a bit. He obviously noticed what was happening and stopped himself. It wasn't much but I noticed it. We eventually got down and I gave him my jacket to wrap. I stayed down calming him down. When my friends got to the top they called me saying the knee he wouldn't make it. I told them they honestly need to fuck off and get off their high horse. We went back to the house and my boyfriend showered. He seems upset. He didn't even want to read. I'm gonna order some food and have a nice day in to make him feel better.