Hi,
Generally, PF withdrawal is not an issue except for the amount of time it takes if you have the required signatures. The timeframe is a minimum of 2 months before it gets credited to your bank account.
The procedure is simple: fill in Form 10C and Form 19, and send it to HR. They should even help you get it directly deposited into your local account. Also, there are no taxes for PF withdrawal after five years. If it's less than five years, then it depends on which tax bracket you are in, and hence, many people prefer getting their PF transferred, which again is a very time-consuming method.
The only way to reduce the time period is to go and meet the concerned official at the PF office and not just the clerks. Three visits should ensure that 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 requirements and queries.
Thanks & Regards,
AJ