Hi,
Generally PF withdrawal is not an issue except for the amount of time it takes if you have the required signatures. The time frame is minimum of 2 months before it gets credited to your bank account.
The procedure is simple fill in form 10c and and form 19 and send it to HR. They should even help you get it direct deposit in to your local account. Also there are no taxes for PF withdrawal above five years also if its less than five years then it depends on which tax bracket you are in and hence a lot of people prefer getting their PF transfered which again is a very time consuming method.
The only way to reduce the time period is to go an meet the concerned official at the PF office and not just the clerks. Three visits should ensure than your job gets done on time.
You can find the forms at the following link
http://epfindia.nic.in <link updated to site home>
Hope the above suffices your requirement and queries.
Thanks & Regards,
AJ