Reconnoiter the area.
Estimate the situation.
Calculate the Ratio.
Obtain the resistance.
Verify the solution.Erect the rigging.
You are ready.
This simple method is still being taught in todays military Recovery Specialist course. Just slipping on mud a straight line pull will do providing the cable and winch are rated for the load. The deeper you get stuck the more mechanical advantage you will need, 2 to 1, 3 to 1 and so on.
To emphasis this point we would mire a Duece and a half up to the fenders in mud at the Aberdeen Proving grounds, and have them use rope and block, and pull said vehicle out by hand only (ol school). Anyone can do it, but it is best left up to the professionals for safety sake if unsure!