Allen key, punch or I use channel lock pliers and "squeeze" it out if the setup is too tippy. Even an inverted nail will work in a pinch.
If it's a roll pin, use an allen key/nail head/punch that is just the right size or ever so slightly bigger than the pin...or you'll flare the pin and it will be even harder to pull out. When you put it back in, flaring one end of a loose roll pin will usually help it stay put.
Best of luck.
PS. If you're clumsy...lay a shop cloth over things you don't want scratched or put a piece of masking tape over the area and punch right through it. If you miss/slip, you'll at least stand a chance of not marking up the area around it.