You can get some of it out the same way you got it out the first time. You must have a drain plug in your tranny so, loosen it, let some drain and then put the plug back in. Start the vehicle and run it through the gears and check the level, add or drain as necessary. PS use a CLEAN catch pan so you can put some back , if necessary.
This is going to be MESSY, but a whole lot cheaper than a shop.
If you don't want a mess go to a shop or dealership and give them your $$.
