You use a hammer and a punch, ideally a punch made of brass so as to not damage the pins. However... if things are lined up and not under stress along with being maintained/greased, pins should come out with minimal effort.
Look if you need help with something you must give some information so that you get the better feed back. "drive out pins" does not tell what you need to get done. Since you are new to tractor owning I am going to guess that you are talking about the pins on the 3 point hitch? If this is correct then I would not use a ballpeen hammer. Instead buy a "dead blow" hammer. It will allow you to knock the arms of the three point off of the pins without damaging anything.
Make sure the implement is setting level and that you adjust the stress on the hydraulics to fine the sweet spot to minimize the weight on the pins. When you set the implements on to the ground it is often helpful to place 4 x 4s under the implement to make it easier to move things around in order to hook them back up.
Be careful of the many pinch points as you mount and dismount the implements. They can be painful.