This is very tricky and one of the world's most famous logic problems.

Here's the question you should ask... and it doesn't matter which guard you ask:

"If I want freedom, what door will HE say I should go through?"

Think long and hard about it...

Let's say that the red door leads to freedom.

If you ask the honest guard, he will honestly tell you that the other guard will lie and tell you the blue door.

If you ask the lying guard, he will lie and tell you the honest guard will say the blue door.

They've both said the blue door -- the one that leads to the worms.

So, you ask your question... and, then, go through the OTHER door!