Saunters safely home, starts off from chaos (6)
I believe the answer is:
ambles
'saunters' is the definition.
('amble' can be a synonym of 'saunter')
I don't understand the rest of the clue.
Can you help me to learn more?
(Other definitions for ambles that I've seen before include "Goes at a leisurely gait" , "Strolls" , "Walks at a slow, relaxed pace" , "Walks at a leisurely pace" , "Saunters" .)