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UESP: Alternatively, you can kill Madanach at any time and escape on your own. If you want a fair fight, you can tell him you plan to kill him; otherwise, just attack him. Attacking him will make some of the other prisoners hostile, but as long as they are out of range, they will not rush in to join the fight. Search Madanach's body for a key and a note, then unlock the gate and exit the prison.

Note that some of the townsfolk may be hostile to the Forsworn and can be killed during the breakout. Timing your escape for early morning hours will reduce the amount of casualties to almost zero.

Prostě ho stačí zabít.