How to run a command before a Bash script exits?

Question

If a Bash script has set -e, and a command in the script returns an error, how can I do some cleanup before the script exits?

For example:

Answer 1

From the reference for set:

-e

Exit immediately if a simple command (see section 3.2.1 Simple Commands) exits with a non-zero status, unless the command that fails is part of an until or while loop, part of an if statement, part of a && or || list, or if the command's return status is being inverted using !. A trap on ERR, if set, is executed before the shell exits.

(Emphasis mine).