If you want to withdraw money from your 401k, then you should contact your 401k custodian (financial company that maintains the 401k). They will help you to process a withdrawal or distribution from your account.
Then, in early 2021 you will receive a Form 1099-R from that financial company showing the amount of money that you took out of your 401k. You will use that Form 1099-R on your 2020 tax return to pay taxes (and possibly a penalty) on the amount that you took out.
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