Can I cash in a profit sharing/401(k) plan?

i work at wal-mart and have a profit sharing and 401(k) plan. On my paperwork there is a total market value and a vested balance. I need to get some money to pay a company that is threatening to sue me and was wandering if it's possible to take out a certain amount and if so what are the penalties? I really don't understand how all this works any advice would be helpful!