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Reading a PAL is ususally done with a PAL programmer. There are plenty designs around, and of course commercial products as well.
However, if the "security fuse" is blown, you can not read the code back at all (to make reverse engineering more difficult).
Because you do not tell which pal (type number, manufacturer), it is hard to give any hints where to look for a programmer/reader. You may search yourself with for example Google, in addition to asking here. For example you may try words:
pal programmer design build
and you get links to several designs suitable for self-construction.