Can anyone figure out this riddle?

You are trapped in a prison. There are two doors to exit from. One leads to freedom and one leads to certain death. Each door is guarded by a prison guard. One of the guards always tells the truth and the other one always lies. You get to ask one question only to only one of the guards before you choose which door to take. What do you ask?
the other door leads to death. which guard to you ask and what do u ask him?
 
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