Yes to this! Let him rest in the incubator but give some drops of apple juice or electrolytes, I would do it right away. He is going to be extremely weak from being stuck inside the egg for that long. Just be super super careful not to let him aspirate. (Read some threads about this if you haven’t given chicks liquid before.)
I personally help chicks that stop mid zip right away. If they start zipping and aren’t out in an hour, I usually find that they are stuck and cant get themselves out, but otherwise are healthy chicks. So I always note the time that I see them zipping and if they aren’t out in an hour, I help them. It is rare for a chick to zip if they aren’t ready to be out of the egg. Just telling you this as a tip for next time