steal away
- to leave secretly and quietly, often unnoticed
Wiktionary
verb
- To leave secretively.
“I do but sing because I must, And pipe but as the linnets sing: And unto one her note is gay, For now her little ones have ranged; And unto one her note is changed, Because her brood is stol’n away.”
“I know it's late, whoa I can't wait / So come on and steal away / Please, steal away”