climb out
To leave a place or area by climbing or clambering. It doesn't look like there are any other ways out of this canyon. We'll have to climb out. The back seats in my car are so low that it feels like you have to climb out when you sit back there.
climb out (of something)
to get, crawl, or move out of something. He climbed out of the wreckage and examined himself carefully for injuries. He climbed out very carefully.