An apparatus and method for driving a ramped drive assembly longitudinally, to drive a penetrator transversely, to cause the penetrator to penetrate and withdraw from a downhole tubular element. An anchor holds the tubing punch assembly in place in the downhole tubular element. A double piston assembly drives the drive assembly hydraulically in the downhole direction, thereby driving the ramp downhole, to force the penetrator outwardly to penetrate the tubular element. Thereafter, pulling uphole on the work string shears a shear sleeve, separating the housing of the tubing punch assembly from the work string. Further pulling on the work string partially withdraws the ramped drive assembly from the tubing punch assembly, thereby withdrawing the penetrator into the tubing punch assembly.