verb

separate or release (someone or something) from something to which they are attached or connected.

I disengaged his hand from mine

remove,detach,disentangle,extricate,separate,release,loosen,loose,disconnect,unfasten,unclasp,unclick,uncouple,decouple,undo,unhook,unloose,unhitch,untie,unyoke,disentwine,free,set free,liberate,disjoin,disunite,disarticulate

noun

a disengaging movement.