It is quite difficult to pull out a very loose tooth without any pain at all, unless the tooth is literally just ready to fall out. The only other way to completely avoid feeling any pain at all is to visit the dentist, where you can receive an anaesthetic that will make the affected area numb, while the tooth is removed.
If you want to remove a loose tooth yourself at home, you really must take precautions to avoid developing any infections. Please note that this should only ever be attempted on a very loose tooth, as if you try to pull out a tooth that is still very much embedded in the gum, you could seriously harm your gums and other teeth.
If the tooth is already quite loose, gently wiggle it for a few minutes each day. It will take a month or two for your tooth to come out this way, so it may not be the quickest solution, but it will certainly be one of the less painful options.
For those with a slightly stronger pain threshold, you could try brushing or flossing the tooth for a little longer each day. This may be quite painful, though, and the gum may start to bleed, although this could be a sign of the tooth becoming detached from the root.
True pain junkies could try twisting the tooth, although that could cause damage to the gum and may be very painful indeed! There are even some people who have tried eating hard food like apples or ice cubes to speed up the process; something not for the light heated! It is Painful!
Whatever you try, never ever use items such as pliers, as these could cause serious infection. Consult your dentist as soon as possible if you do encounter any problems. It is Painful!