Can we see the full sentence? Also, you said the word "Free" is confusing you, but it's not in the sentence you provided. In general "to bring out" in this sense means the truth is helping us out of a tough situation. And "to" before "safe" would be incorrect here.

I think you're confusing "free" with "safe" ? ie. to free someone or save someone ? "Safe" here is a noun. Think of "safe" as the opposite of risk or danger. "Bring us out safe" here means to bring us or deliver us away from a possible problem so that we are in no danger. "To follow the truth, it will bring us out safe" means, "if we follow the truth (honest with ourselves and others), then we won't be led into danger or trouble (it will bring us out safe).