Rather than reinvent the wheel, click on the link below to be rerouted to Nick Robinson’s site “Nick’s Toybox”.
 
He has created a very in depth step-by-step tutorial on how to remove FC feet, hands & heads.  His procedure is so well demonstrated, that I would be hard pressed to find any way to improve upon it!
 
So, without further ado....
How do I remove FC parts using the
“Boil & Pop” method?