A pipe extraction machine can be used to remove a buried pipe from the ground. The machine has a carriage with jaws that grip the buried pipe. While gripped, the carriage moves relative to a support structure to pull the pipe out of the ground. Jaws are actuated by rotating clamp plates and maintained in opposition by static horizontal grooves. The jaws remain opposed and aligned during rotation of the clamp plates. A pipe shear may remove the pipe one piece at a time. A pipe puller can be used at the back end of the pipe being removed to simultaneously install a new pipe along the same path.