You can withdraw your investment via the app upon maturity (when the investment duration you chose is due). This is applicable to Fixed income and Real Estate which have investment durations. Stock plans do not have investment durations, so it can be withdrawn from at any time. However, due to the volatility of stocks, we advise long term investing of at least a year.
To withdraw, click on the ellipsis(three dots) at the top right corner of your plan screen and then choose the "withdraw funds" option.