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]

WordNet (r) 3.0 (2006):

disembarrass
    v 1: relieve from; "Rid the house of pests" [syn: rid, free,
         disembarrass]

Moby Thesaurus II by Grady Ward, 1.0:

32 Moby Thesaurus words for "disembarrass":
   break loose, break out, clear, cut loose, disburden, disembroil,
   disencumber, disengage, disentangle, disinvolve, dislodge,
   extricate, free, free up, get out, liberate, lighten, release, rid,
   set at ease, tear loose, unburden, unclutter, unfreight, unknot,
   unload, unravel, unscramble, unsnarl, untangle, untie, untwine