disengage

A circular movement of the blade that avoids the opponent's parry

To release or loosen from something that binds, entangles, holds, or interlocks.

Diſingaging myſelf then from his embrace, I made him ſenſible of the reaſons there were for his preſent leaving me; on which, tho' reluctantly, he put on his cloaths with as little expedition, however, as he could help, wantonly interrupting himſelf between whiles, with kiſſes, touches, and embraces, I could not refuſe myſelf to; [...]

With the help of a sleepy waiter, Little Billee got the bacchanalian into his room and lit his candle for him, and, disengaging himself from his maudlin embraces, left him to wallow in solitude.