Hi Sagaryash,
If you worked with that company for more than 6 months, then you have to submit Form 19 & 10C for your PF withdrawal. If you worked for less than 6 months, then you are not eligible to withdraw your pension amount, so you do not need to submit Form 10C.
Form 19 is for getting your PF amount, and Form 10C is for getting your pension amount. You can submit the above forms with your recent employer or directly with the PF office by getting them attested by any government officer.