untie
un- + tie
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verb (unties, untying, untied) with object
undo or unfasten (a cord or knot):
〈結んだ物など〉をほどく, 解く; 〈包みなど〉のひもをほどく
e.g. she knelt to untie her laces.
undo a cord or similar fastening that binds (someone or something):
〈つながれた動物など〉を解放する, 解き放す.
e.g. Morton untied the parcel.
ORIGIN
Old English untīgan(see un-2, tie).