Two ways. One directly from Paypal, you can withdraw to a debit or credit card or as a check which would be mailed to you. The minimum is $150. The other way is to use Xoom which would send the money via check or to your bank account. The minimum transaction size is $25 and not more than $1000.
Let me add something in this eddy. Paypal charges $5 for each withdrawal through check and you'll get your check through normal postal service anytime within 15 to 45 days. Xoom charges $9.99 for transaction between $25 to $500 and $14.99 for transaction between $501 to $1000. Xoom transfer money in 3-4 days for bank transfer and 4-5 days for check delivery through bluedart courier. BTW you can get some discount in xoom fees by entering available coupon code which you can find through search here. Max $3000/month you can withdraw through xoom.
Just to add a little more. Xoom requires you to have a verified paypal account before they will deal with you. Paypal on the other hand will allow you up to a limited amount of withdrawal ($500 total) if you have an unverified account and a higher limit (if I am not wrong $2500/mth) if you are verified.
I guess you need a valid SSN(USA) for this though I am not very sure on this. Even I believe this but this XooM service looks promising after reading so many positive reviews about it.