Withdraw 401k

Can i withdrawn money from my 401k to pay off a bank loan i am struggling to make because of work slow down and cut in wages, also i need about 9,000.00 for 2 teenagers braces in total i need at least 21,000.00. im 53 more than likely will not be able to retire anyway until i die. if i can withdraw what is the penalty and tax? what do i need to have them hold out for taxes or is that not up to me? i only have about 23,000.00 total if i could get in all and close out the 401k account would be great because i still have less in it than i did more than a yera ago and have not stopped contributing 4 percent of my income on a bi-weekly basis, so im loosing all the time, i had just soon pay a penalty and get rid of this dental and loan payment that i cant make. appreciate very much any advice you can offer, i can not affored to pay for legal advice, thank you very much and may GOD bless you sincerely roger