Go to The Mayor's Office in Vacherie
ask Mayor slave
ask Mayor pardon
(you can skip the above when repeating, and maybe on the first one too)
go to The Master's Office on the nearby plantation
From here you can do the following to get a pardon letter
Either way, take the pardon letter back and give letter mayor. The slave is freed and you get xp.
There is some kind of cooldown on this, so sometimes turning in the letter won't give you xp, but it is infinitely repeatable.