The Rebbe taught this discourse, which begins with a quote from the Haggadah, 'We were slaves to Pharaoh in Egypt..' on Shabbat Parshat Tzav in 1988. It explains that enslavement to Pharaoh comes about through a dislocation within the person. His or her outer manifest will is dislocated from their inner, spiritual will.  Bringing about an alignment within the person leads to true freedom from Pharaoh.  

This step of freedom took place at the Exodus round 3,300 years ago, and it is re-enacted every year at the celebration of Pesach. But it is also part of the process of our connection with our inner selves  and with G-d, every day of the year.