If you have a heated bed, you can use this method.
1. If possible, remove the build plate from the heated bed.
2. Turn the heated bed up to about 80C for PLA parts. Wait for it to completely come up to temperature.
3. Put the build plate back on the heated bed for about 3 minutes, or until the bottom layers of the part begin to get soft.
4. Remove the build plate and place it on a firm flat surface.
5. Grip the part securely (I prefer to use channel lock pliers if they fit around the part) and remove it with a twisting motion.