The Collaborative International Dictionary of English v.0.48:

Disembarrass \Dis`em*bar"rass\, v. t. [imp. & p. p.
   Disembarrassed; p. pr. & vb. n. Disembarrassing.] [Pref.
   dis- + embarrass: cf. F. d['e]sembarasser.]
   To free from embarrassment, or perplexity; to clear; to
   extricate.
   [1913 Webster]

         To disembarrass himself of his companion. --Sir W.
                                                  Scott.
   [1913 Webster]