The ESV, like most English translations, has "house of slavery:"
“I am the LORD your God, who brought you out of the land of Egypt, out of the house of slavery.
אָֽנֹכִי יְהוָה אֱלֹהֶיךָ אֲשֶׁר הֹוצֵאתִיךָ מֵאֶרֶץ מִצְרַיִם מִבֵּית עֲבָדִֽים
Others, like the King James, prefer "house of bondage:"
I am the LORD thy God, which have brought thee out of the land of Egypt, out of the house of bondage.
Some, like the Contemporary English Version avoid the issue by focusing on the historical reality:
I am the LORD your God, the one who brought you out of Egypt where you were slaves.
Both are true. Those whom the LORD God brought out of Egypt had been slaves in Egypt, which was the house of slavery or bondage. The phrase is מִבֵּית עֲבָדִֽים where עֲבָדִֽ֑ים is the plural of עֶבֶד which means slave or servant. The first use is when Noah curses his grandson:
When Noah awoke from his wine and knew what his youngest son had done to him, he said, “Cursed be Canaan; a servant of servants shall he be to his brothers.” (Genesis 9:24-25) [ESV]
The lexicon is straightforward: Canaan would be a servant of servants, עֶ֥בֶד עֲבָדִ֖ים, to his brothers. Likewise, the LORD brought people out of the land of Egypt which was a house of עֲבָדִ֖ים.
Egypt, Pharaoh's House of Bondage
The LORD used Joseph to save the world from the seven years of famine.
Pharaoh placed Joseph in command over all of Egypt and he used his authority to store up grain during the seven years of plenty. When the famine struck, Joseph sold the grain. First, he accepted money as payment (Genesis 47:14-15). When the money ran out, he accepted livestock (Genesis 47-16-17). When those were gone, the people offered themselves and their land as payment (Genesis 47:18-22). They voluntarily sold themselves into slavery:
Then Joseph said to the people, “Behold, I have this day bought you and your land for Pharaoh... (Genesis 47:23)
With the exception of the priests and the Israelites, Joseph bought the people and their land for Pharaoh. These transactions "legally" brought the land and people of Egypt into Pharaoh's house, and yet it was a house of voluntary servant hood.
The Israelites were not party to these transactions. In fact, Pharaoh allowed them to settle in the land of Goshen where Joseph provided food (Genesis 47:12), and Pharaoh placed them in charge of his livestock (Genesis 47:5-6). Effectively, Pharaoh "hired" the Israelites to take care of the livestock which Joseph acquired on his behalf: their "wages" were a place to live and food.
Later, when a Pharaoh who did not know Joseph came to power, he (illegally) enslaved the Israelites. This added element made Egypt a house of bondage. Therefore, historically, Egypt was Pharaoh's house of slavery which he legally acquired and it became his house of bondage when he forced the Israelites into building storage cities (Exodus 1:11). The LORD then brought the people out of the land of Egypt which had been a house of slavery and had become a house of bondage.