There is no tax efficient way to take money from a pension prior to retirement age and pay off a house.
There is also no tax efficient way to take distributions from a traditional IRA in smaller chunks prior to retirement age.
If you had several years to plan, you could transition some of the money into a Roth and then get it out without penalty after 5 years.
In any case, you should Google "Roth Conversion Ladder" because your problem is that you're rich only in tax-deferred retirement plans and poor in cash.
Tax-wise, it's highly likely that you should simply sell your house and buy a new one later. Free up any equity you have and avoid taxes on the funds you need for the payoff. Secondarily, tax-wise, it makes more sense to keep a mortgage on a rented house due to potential tax losses.
What you're proposing has the double whammy of tax-pain.
1) You'll pay taxes on any current year distributions from you retirement plans, plus penalty.
2) You'll be renting a mortgage free house and thus pay taxes on rental income because you just eliminated one of your primary deductions (mortgage interest).
In other words, what you are proposing is a terrible idea.