To free someone from a burden or difficult situation is to disencumber them. You might try to disencumber yourself from the responsibility of walking the dog by bribing your sister to do it.
Want to make your life less complicated or otherwise free yourself from some obstacle? You need to disencumber yourself. Things from which people disencumber themselves tend to be obligations, guilt, relationships, and other complexities of life. Disencumber comes from the verb encumber and its Latin source combrus, "barricade or obstacle."