2 1 4 3 ending at the number 2 in 2. Is how he got lost. Which you did not ask. So if he started from where he was lost which is at the number 2 and then he traveled from box 2 to box 3 then to box 4 then box 1 he would finally re-enter the center of the maze retracing his steps to the three icons.
Answer dependent on point at which he is lost in the maze.
If we assume 3 icons start point and number 2 the way out. Then thru boxes 21432 ending at the number 2.
If we assume lost point to be the number 2 and the three icons the way out. Then thru boxes 23412 ending at the three icons.