Did I do the Right thing helping neighbor?

New to this so here I go. Don't know where else to go. Im a woman 66 years of age divorced no children. We got a lot of snow the other day and my neighbor got stuck close to our homes he made it home in the storm by walking I saw him and couldn't believe it! He was so frozen cold he couldn't get his keys from his pocket his jeans were frozen stiff. I got him inside my house and I feared he had frostbite. Jim has no one at his house he is younger 53 and lives alone I felt I needed to help him my maternal-sisterly instinct took over. He wasn't properly dressed for what he went thru his legs hands were numb he needed he was frigid. I helped get his things off and get him into the tub where I ran a warm shower over him to get his body temperature back to norm. He couldn't have done it by himself. Pretty sure he didn't have frostbite I left him and put his clothes into the dryer then dropped them into the bathroom. His feeling came back he got out and he was able to dress himself as I made hot tea and heated soup for us. Whats wrong is that he feels very embarrassed that I had to help him and obviously I saw him naked momentarily during this time. He is not mad at me for helping him but questioned if I had to do what I did. What else do I do if he cannot? Have him go into the tub with all the clothes on? They were frozen and I thought his body temperature needed to come back to normal plus how would we know if he had frostbite or not? hes been avoiding me now and I know he feels awkward. Its probably his male pride but I didn't consider that when I went to help him. I cannot change that I saw him naked. Please if anyone has advice or honestly tell me did I do the right thing could Ive done better? Thank you !!