The Family:
* Rachel: A young girl who escapes slavery with her family. She is courageous and resourceful.
* Caleb: Rachel's father, who is determined to get his family to freedom.
* Sarah: Rachel's mother, who is strong and protective of her children.
* Samuel: Rachel's younger brother, who is playful and adventurous.
Supporting Characters:
* "Daddy" Jack: An escaped slave who is a conductor on the Underground Railroad. He is kind and generous.
* Aunt Hester: A free Black woman who helps Rachel's family escape.
* Mr. & Mrs. Miller: A white family who helps the family on their journey.
* Simon: A slave who helps the family escape and becomes a friend.
* Reverend Samuel: A minister who is an abolitionist and helps slaves escape.
Key Historical Figures:
* Harriet Tubman: While not named explicitly, she is implied to be the conductor of the Underground Railroad.
* Frederick Douglass: Though not appearing in the book, his influence on the Underground Railroad is acknowledged.
This is just a brief overview of the characters. The book offers a deeper understanding of their motivations, relationships, and struggles as they fight for freedom.