Navigating through soft and highly confined environments is crucial for bacteria moving within living organisms' tissues, yet this topic has been less explored. In our study, we experimentally harnessed the unique biconcave geometry of red blood cells (RBCs) to enable real-time visualization of swimming Escherichia coli interacting with soft RBCs. Our findings show that RBCs adhering to a rigid surface can enclose spaces comparable to the size of bacteria, effectively entrapping them. Remarkably, we found that bacteria can escape from this extremely confined space through three newly defined escape modes: Bundling, Unbundling, and Flipping, each mode relying on the specific states of bacterial flagella. A quantitative analysis uncovers significant differences among these modes in terms of scattering angle, escaping speed, and trapping duration. We used two methods to alter the rigidity and adhesion strength of RBCs, and we studied their effects on the detailed bacterial escape process. Our results contribute to the knowledge of bacterial migration in soft, confined spaces, thereby enhancing our understanding of similar processes in biological tissue environments.