His friend climbed down in an attempt to help him.
Once emergency services arrived, they found the men on a sloping ledge two metres from the top of the rock. Below them was a 50 metre drop to the ocean.
Both men remained on the ledge for more than two hours as paramedics and officers from police rescue abseiled over the edge to retrieve them.
The popular tourist destination has made international headlines as a popular destination for tourists to perform dangerous stunts, in order to get interesting photographs for social media.
It is expected that the rock will collapse into the ocean and has been blocked off by temporary fencing, with a warning.