Process for PF Claim
First of all, you have to leave the company without any arrears (F&F). If not, the employer will not allow you to access the PF & EPS fund. Once you leave the company without any pending clearances, you need to fill out the necessary applications to claim the PF. These forms are Form-19 & Form-10C. Fill them out properly (without any errors) and then submit them to your Company HR.
Once you have completed your part, your Company HR will take care of the rest. It usually takes around 45 days for the amount to be credited to your account.
Regards