There are mobile services available which will come to you and pump out the incorrect fuel. Can't vouch for any in particular but just do a google.
Once you've got it resolved I would recommend something like 'Solo diesel' which prevents the ability to insert a petrol nozzle into a diesel filler.
If you want to DIY you can disconnect the fuel filter in the engine bay and use VCDS to run the fuel pump to empty the fuel into a suitable container. Or you can remove the in tank pump and pump it out yourself. That's under the rear seat. Just make sure you also replace the fuel filter in the engine bay also.
Given you didn't drive it until failure it's likely going to be a case of 'no blood, no foul' at least that's been my experience with other similar incidents with friends.
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