After starting "Heavy is the Head", Ivarr climbed up a few buildings and then finally wanders into a corner behind a building and will not get out. Loaded a few saves ending in the same result. Is there a way to reset the quest so he starts over or any solution to get him unstuck?

After starting "Heavy is the Head", Ivarr climbed up a few buildings and then finally wanders into a corner behind a building and will not get out. Loaded a few saves ending in the same result. Is there a way to reset the quest so he starts over or any solution to get him unstuck?