Why don't you search for loan modification company? They are well at it and you may find some great help from them. You will find many organization doing this credit repair or loan modification kind of stuffs.

The formula for making this decision is actually quite a simple one:
"If I didn't pay off my mortgage, can I earn a better return with the money than what I'm paying as an interest rate?"
If you're paying 6% on the mortgage, but can earn 9% elsewhere, then by all means invest the money elsewhere. Otherwise, pay off your mortgage.
It's worth mentioning that another option is buying an investment property with the money and leasing it out; consider that you may be able to invest less money and still make enough money from your lease income to cover your mortgage.
Just some food for thought,
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Brian
EZ Landlord Forms

Personally I would never take money out of a 401 K to pay for anything no matter how desperate I might get.

A lot of factors need to be considered. Not just interest rate. But also things like whether a refinance might be a better option than paying it off, how long you've been paying on it and how long you have left to pay. If it doesn't put you in a bind and you've been paying on your mortgage for many years, you're likely paying down principle very fast now, and I'd just keep paying. If you're having a hard time making the payments, you may need to consider a refinancing assuming you have a lot of equity. It's impossible to give you a correct answer without knowing your entire picture.

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FHA Loan Resource Center