After you leave a job, you can leave your 401k as is and let it grow, or you can rollover the balance into your current retirement plan, such as an IRA or a new 401k. If done properly, there will be no taxes on the the rollover.
If by "get it out" you means cashing out your 401k, it may not be wise to do so. While you can withdraw the money from your old 401k, keep in mind that there is a 10% penalty if you are younger than 59 1/2 years old. Also, you will have to pay income taxes on the withdrawal.
Whichever you decide, you should contact your plan administrator, who would assist you with the next step to transfer or withdraw your money.
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