No, there is no 'ceremony' involved in making a slave a Free Person. The only 'steps' involved is the simple fact of removing the collar. Perhaps the utterance of the owner then saying "You are free." And then, not necessarily in that order.
Here are three examples:
One of Tarl freeing Elizabeth, one of Kamchak freeing Aphris and one of Tarl freeing Sheera.
At last, panting, bleeding here and there, discolored in places, half-naked, triumphant, Elizabeth Cardwell returned to my side, where she knelt as a humble, obedient slave girl.
When she had somewhat caught her breath I removed the collar from her throat and freed her.
I set her on the saddle of the tarn, telling her to hold to the pommel of the saddle. When I myself mounted I would tie her to the pommel with binding fiber. I would fasten about myself the broad safety strap, usually purple, which is an invariable portion of the tarn saddle.
Nomads of Gor    Book 4    Page 342
As he turned to leave the throne room of Phanius Turmus, to return to the wagons, Aphris lightly rose to her feet to accompany him.
But Kamchak turned and faced her. She looked up at him, questioningly. It was hard to read his face. She stood quite close to him.
Gently, ever so gently, Kamchak put his hands on her arms and drew her to him and then, very softly, kissed her.
"Master?" she asked.
Kamchak's hands were at the small, heavy lock at the back of the steel, Turian collar she wore. He turned the key and opened the collar, discarding it.
Aphris said nothing, but she trembled and shook her head slightly. She touched her throat disbelievingly.
"You are free," said the Tuchuk.
Nomads of Gor    Book 4    Page 338
"You did well in the stockade," I said. "You are free."
. . .
"I wish you well, Sheera," said I. I felt her kiss my hand, and then she went to Thurnock, that he might remove her collar, that she, like Verna, might disappear into the forest. Marlenus had said that the wind on the beach was cold, and had stung his eyes. Too, it stung my eyes.
Hunters of Gor    Book 8    Page 309
On this topic, you may wish to visit this page, Manumission.
