I take two screw drivers (or two forks) push them down into the cork, then twist a few times, wiggle a bit and pull, twist -wiggle and pull, repeat until I get about 1/4in of cork above the lip, then I pull it out with my teeth (molars).
However, if the cork is dried out - it'll tear, in wish case I just push it into the bottle and hope the cork isn't tainted and doesn't kick the flavor of the rest of the wine.
In most cases though, if the cork is dried out you might as well toss the bottle of wine because the contents have probably already kicked anyway.