extricate

1. extricate somebody/something/yourself (from something) to escape or enable somebody to escape from a difficult situation
   • He had managed to extricate himself from most of his official duties.
2. Extricate somebody/something/yourself (from something) to free somebody/something or yourself from a place where they/it or you have been stuck and unable to move
   • They managed to extricate the pilot from the tangled control panel