The first thing you have to do is to wash the area with warm water. The best idea is to take a shower and then continue with the rest of the procedure. The warm water will open up your pores and you will be able to remove the ingrown hair easily.
The next thing is to make sure that your tweezers is clean and if it is not then soak it in the rubbing alcohol liquid and clean it with a cotton pad. This will help in removing any germ or else your skin will get infected.
Now comes the difficult part, you will have to be extremely careful while plucking the hair out of the skin. First analyze the hair, very carefully tease it and with the tips of the tweezers get hold of the hair and pluck it out.
If by any chance the hair seems to be in the skin and you are trying to break the skin, then before doing that apply a moderate amount of antibiotic ointment to avoid any sort of infections.
In the end again wash your skin with warm water and an antibiotic soap.