Here is my take on it.
どこか遠くで声が聞こえる
Somewhere far away, I can hear a voice (calling me)
暗闇の中で名前を呼ぶ方へ向かっても 何も見えないとき、ただ膝かかえ うずくまってた
Not being able to see anything when I walked toward the direction from where I heard the voice calling my name, I just sat there on the ground ( crouched down) holding my knees to my chest (ひざかかえ or ひざをかかえ).
うずくまる is to crouch down, not to be confused with うずく.
不安と孤独おそう この場所から、やさしく手 にぎって連れ出してくれた
You took me away, holding my hand gently, from this place filled with uncertainty and loneliness (or more literally, from this place where uncertainty and loneliness torment me)
It is hard to make it sound like a lyric... especially the first part. lol