What should I say to him? And how will be continue?

I was at gymnastics practice with my friend that's a guy, and were really good friends. So I was on beam and I got stuck on the metal part. My leotard got caught and ripped so I was there with literally only the top half of me covered. He pretty much saw everything, and I was wearing no panties. He was just staring at me and I ran away to the bathroom. I havnt talked to him in a day, I'm so embarrassed what do I do?
What should I say to him? And how will be continue?
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