Best is to drive them out with a proper size arbor. Without that, use a hacksaw blade carefully to almost cut through from the inside out, then use an awl, and drive it in between the bushing and the pedal bore. The cut section will crack, and you can then just push it through.
On some thin bushings I've had to make an outer sleeve to contain the bushing as it's driven into place, otherwise, as Nick said, it can be easily destroyed.