I am 28 years old, I am trying to buy a car, and get caught up on some bills. I want to take money from my 401k how do I go about that

As an active employee you can't take a withdrawal from your 401(k), but you are probably allowed to borrow from it. Different plans have different rules, so check with your plan administartor, but most plans allow you to borrow up to 50% of the account value. You pay the loan back through payroll withholding over a period of a few years, and the good news is the interest that you pay is paid to your own account, and there are no tax or penalty issues.