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The general rule is that money in 401(K) plans stays there until retirement but the IRS allows "Hardship withdrawals" such as purchase of your primary residence. You can borrow against the account (assuming your employer permits this). 

You pay interest on the loan but the interest goes back into your account as an offset to the earnings forego. The money is non taxable as long as you pay it back. The cost of borrowing against the 401(K) plan is most likely lower than the alternatives. Most employers leave it to borrowers to formulate their own repayment plan. Should employment is terminated - the loan must be paid back within 60 days or it is treated as a withdrawal and is subject to penalties on withdrawals.