Personally, I think you should never push anyone who is ambivalent in any way into a situation that might cause discomfort or guilt.
That said, he participated, and at the time wasn't ambivalent, and seems, in retrospect, to have enjoyed himself. I suggest that should the opportunity present itself, you should reassure him that y'all enjoyed yourselves, you don't have any problems with him at all, and that any future encounters will be up to him, but aren't a big deal if they never happen again.
Just let him know he's still y'all's friend, and that there isn't any pressure from you, and that should take care of his angst, at least with y'all. Give him space to sort out his feelings, but don't let him wallow in guilt... After all, it was one of those rare occurences when everyone goes home happy. *grins*
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“When facism comes to America it will be wrapped in the flag and carrying a cross.”
~Sinclair Lewis
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