Disembarrass

Dis`em*bar"rass (?), v. t. [imp. & p. p. Disembarrassed (?); p. pr. & vb. n. Disembarrassing.] [Pref. dis- + embarrass: cf. F. désembarasser.] To free from embarrassment, or perplexity; to clear; to extricate.

To disembarrass himself of his companion.
Sir W. Scott.