How can we get our parents to understand that we didn't do anything?

My best friend texted me like at 3:00 a.m last night saying that he was in my backyard. so my parents were asleep so i snuck into the backyard and i asked him why he was there. He just asked if we could go in my room so we could talk. and he was really upset and needed someone to talk to so he told me that his parents were getting a divorce and he started crying, and he is like a big brother to me and it broke my heart to see him like that. We had a long talk and it was about 4:00 a.m so he just asked to sleep over and he would go home in about 3 hours so i said yes as long as he set his alarm to wake him up so he could go home before my parents woke up. So he did and he only sleeps in his boxers so he just took everything else off, and we have been friends for so long that i didn't really think much of it. and we just snuggled under the covers together and went to sleep. But offcorse my mother heard something and went into my room to check up on everything. And she completely freaked out and screamed at us for like about 30 minutes and called his parents and now we cant even see each other and both of our parents think we did "stuff" (we would never do anything, he is only 14 and im 13 so NEVER) and we are practically grounded for life. How can we get our parents to stop overreacting?