So, I would strongly suggest you not set up a situation to appease the now and risk huge consequesnces later. A child of 11 is not mature enough to make these type of adult decisions. The proper thing would be to find out why he is scared. If it is due to endangerment, neglect, or abuse then you need to follow the proper procedures set by the courts to litigate.
What can he do to prevent getting in trouble? Follow the order unless there is iminent child welfare risk.