What I usually do it take a straight pin and gently scrap along the top of the skin until the hair can push through. Make sure you clean the straight pin with some alcohol first though, just so its quasi clean.
Steam the area - the take a nice hot shower and exfoliate the area with some type of exfoliating scrub or use a loofah scrub on the area while in the shower. You can also apply a hot damp towel on the area to open the pores and loosen dead skin. Then, as Pancua mentioned, use a disinfected needle to scrape the dead skin off. You can also use needle nose tweezers (very sharp so be careful if you use these) to pluck the hair once you've loosen the skin off of it.