The problem is that if you don't get the piglets out of there, the risk of infection goes up significantly. Here are some instructions for getting in there:
-Immobilize the pig to minimize the risk of damage to both you and the pig. You need to have something pretty sturdy to tie her to.
-Wash your hands properly, and the surrounding area. If you've got shoulder long gloves, those might be nice, but if not, don't worry about it. In any case, cleanliness and lubrication are important. If you don't have lube, cooking oil might work, but it's not recommended. Again, risk of infection. And don't go easy on the lube, you'll want your arm nice and slippery.
-When going in, keep your fingers together to form a pointy sort of shape, not a fist or spread fingers, it will be easier to get in there. You should run out of arm before you run out of uterus.
*Edit* Oh, by surrounding area I meant on the pig, not the ground, but you probably got that.