IS PF WITHDRAWL TAXABLE ?

I was worked for one company named "A" from june 2003 to december 2006. then i was resign from the company "A" & join Company "B". I was also resign from Company "B" in april 2009. In between i as transfered my PF from Company "A" to Company "B". now i am job less & want to withdraw my PF from company "B" ( Including PF of company "A" ). PF amount of company "A" is around 34000 & PF of company "B" is also around 34000.. please tell me how much amount is taxable & what about i will get from the company "B". fee