The loud peeping should encourage others to hatch.
If there is no reason to remove the chick, e.g. dragging a piece of shell dried onto the abdomen making a "tear" possible or endangering the other hatching chicks, leave it. I have had hens hatch chicks across a 48 hour period and not take the "first born" out until the "last born" is strong enough. This means they don't get food or water for about 72 hours. If you have to open the incubator, be very careful or you could endanger those in the process of hatching.
If there is no reason to remove the chick, e.g. dragging a piece of shell dried onto the abdomen making a "tear" possible or endangering the other hatching chicks, leave it. I have had hens hatch chicks across a 48 hour period and not take the "first born" out until the "last born" is strong enough. This means they don't get food or water for about 72 hours. If you have to open the incubator, be very careful or you could endanger those in the process of hatching.