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Sirius Black escapes from Azkaban prison in 'Harry Potter and the Prisoner of Azkaban.' He is the first wizard ever to escape from Azkaban, doing so by transforming into his dog animagus form when no one was watching. Professor Lupin was never imprisoned, Hagrid was sent to Azkaban but not in this book, and Lord Voldemort was not in Azkaban during this time period.