Dear Dipak,
Yes, you can withdraw your PF amount, but before withdrawing, some formalities need to be completed from your employer's side. Please visit your employer and request for PF withdrawal. Even if you wish to continue your PF with your current employer, formalities must be completed with your previous employer.
It's better if you visit your previous employer and make the request. I hope they accept your request.
Regards,
Mohamed Rafiulla