If you don't have a friend who can dig it out for out, the next best thing is to leave it alone. It'll come up on its own. Sometimes, after a hot shower / hot compress, you can nudge it a bit with the end of tweezers, a table knife, etc, and it'll pop up. The heat brings white cells to the top, and the hair with it.
You can use a pulice (google on this). Over the counter products like Boil-Ease contain sulfur that will both act in an antiseptic way and it will soften the skin to the point the hair will pop through on its own. Home remedies include a Band-Aid with bacon, or Vaseline, but the sulfur is the most effective. The guy above mentioned a triple antibiotic ointment, which is fine for infection control, but, generally, you want the hair to "fester up" and pop, rather than not, so using that can be counter-productive. The sulfur has the effect of basically causing the skin to dissolve, and the hair is exposed fixing the issue and allowing the carbuncle to drain. Almost always, these will "turn over" on their own given heat, moisture, and some time. You can google on boils.
The trick to not getting ingrowns is shaving more frequently (before the hair has a chance to curl over), and, maybe, not shaving super close, as opposed to just close.
For my legs, heads, arms, chest, I use a 5 blade razor that's very close, and everywhere else I use a 3 blade razor. I used to shaving powder on the private parts but the last year or so I've used a razor. I've found that pubic hair (at least mine) does best if I shave it every day ( a pain in the back ), otherwise, they get curled over and I end up with a bunch of ingrowns.