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We have reached the summit with out any problems.
Then Joe had slipped and broke his leg.
Of course! It was very difficult for me to make a choice.Because I took on myself responsibility for our lives.
I called for help and Joe was rescued.

-We have reached the top(the peak?) without any problems
-After this, Joe slipped and fell, his leg was broken
-Of course! It was very difficult, for me, to make my choice, because I have taken to myself responsibility for our lives.
-I called for someone's help and Joe was saved

We reached the top without any problems.
Then Joe slipped and broke his leg.
Of course! It was very hard for me to make a choice. Because I took responsibility for our lives.
I called for help and Joe was saved.

We had no problem getting to the top of the hill. Then Joe slipped and broke his leg. Sure it was hard for me to make a choice because i was the one responsible for our lives. I called for help and Joe was rescued.
Какой то текст конечно... ябы немного дополнил бы вот так:

we had no serious problems getting to the top of the hill(или чего там) but then Joe slipped and broke his leg. It was really hard for me to make the right choice....after a while i decided to call for help and Joe was safely rescued in the end.
Не понятно в чем была сложность выбора то? Звать на помошь или не звать лол и в горах обычно на помощь то хрен позовешь, если бы можно было бы позвать никто бы даже не секунды бы не думал.