I think its best left to the vet

from wiki:

Contrary to popular belief, porcupines are not capable of throwing their quills, but they detach very easily and will remain embedded in an attacker. Porcupine quills are as sharp as needles. Unlike needles, however, the quills of New World porcupines have microscopic, backwards-facing barbs on the tip that catch on the skin making them difficult and painful to extract. Quills are about 75 mm long and 2 mm wide. If a quill becomes lodged in the tissues of a would-be attacker, the barbs act to pull the quill further into the tissues with the normal muscle movements of the attacker, moving up to several millimeters in a day. Predators have been known to die as a result of quill penetration and infection.
i thought the quills were barbed. And it can be very painful to remove. Yes you can do it; but, at what cost either way. Pain inflicted if you did it your self or $$ if you went to the ved and had the dog anethetized.

Geeze, rash of furry baby problems lately...

Well I hope they learned their lesson. And speedy recovery.
smilingcat