Scrapes is conflicts or problems. Pulled each other out means they have each helped the other to get out of a bad situation. Imagine someone in quicksand or drowning in water; you grab their arms and pull them out to safety.

As Allen says, you can pull someone out of trouble. And brothers have pulled each other out of many difficult situations - by providing support in a fight, lying to provide an alibi, covering up for misbehaviour, doing work that the other should have done, "hiding the evidence", etc, etc.... "Scrapes" = conflicts, battles, fights, arguments.