The Underground Railroad is a well-known aspect of African American history. Slaves would follow the Drinking Gourd (the Big Dipper) as a guide to lead them to the north. Runaways would travel at night and mostly during the winter season so the could avoid slave trackers.
I first heard about the story of Ellen and William Craft on an episode of The Dollop Podcast . Ellen was the illegitimate child of and was so light skin she was mistaken for white. She and her husband, William, Escape From Slavery by disguising Ellen as a injured white man and William posed as Ellen slave. Though their journey Ellen made sure to only allow William to speak for her so that her voice would not give them away and wrapped herself in bandages to hide in plain sight. The two took multiple trains from Georgia to Philadelphia, successfully escaping to their freedom. Smithsonian magazine wrote an article on their story. I encourage you to read it.