All lithium chargers will refuse to charge a bettery of the battery voltage is below a certain low limit.
You just need to manually force some charge into the battery to bring it’s voltage up above the minimum voltage limit.
How you do this depends on the battery, my prefered way is to open the battery case up in order to expose the main terminals on the cells then connect up a variable DC powersupply directly. I just set the voltage so it puts a few hundred mA in and leave it for a while. The disconnect and try the proper charger if it still doesn’t charge then carry on with the manual charge for a bit longer.
Done carefully there is very little risk of anything going wrong, but lithium battery’s are volitie and can go bang spectacually if you do something daft.