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"And his furrowed brow holding my unsteady feet" is my favorite. It's a really creative analogy.
It helps create a sense of old age, and it also helps embody the struggle the climber has to scale the cliff.
I love this! You have an excellent command of creative verbs and imagery that really brings the poem to life. One suggestion I have is really picky, but honestly I'm not seeing any big problems. If I were you I would change "me" to "him" in the second to last line, so that the poem remains centered around him instead of the climber. Or, you could switch the third-to-last and second-to-last lines. I think that would help the final words flow more smoothly through the mind. Right now it's just a bit clunky.