IIRC, he even went on tour with the Beach Boys at least once....He was in the recording studio’s band to play the recorded music you hear on records, tapes, etc. He was so good they allowed him to appear onstage.
One easy to find Beach Boy recording session is look on Youtube for The Beach Boys Behind the sounds Sloop John B that can't be done on the stage the way it was recorded or rather it couldn't back then. Hal Blaine was the drummer, several guitar players, several flute players a Sax player, and more for it and about the same for Good Vibrations. Usually the Beach Boy playing guitar on an early song studio recording like Good Vibrations was Carl Wilson. All three Wilson Brothers had fantastic voices.Glenn could play circles around the band.