He recounts his amazing survival and astounding comeback in his book, A Test of Will: One Man's Extraordinary Story of Survival.
Warren says losing both of his legs has not been an entirely bad experience. In fact, he says he does not even necessarily wish that it had never happened. "I've learned ... how infinitely more powerful each of us is, and how responsible we are for creating our reality," he says. "It wasn't in my reality—the same as it's not in most people's—for a guy with no legs to climb to the top of Kilimanjaro. So I set out to create that reality."