(Assuming you're working from iOS 9.2 or recent versions)
From the home screen, swipe the screen down to start spotlight search.
Type "Settings" in to the search field.
Once settings opens swipe down slightly to reveal a search bar at the top of settings menu.
Type "Passcode" and select the third option down which is "turn passcode off".
Enter your passcode (re-enter if necessary).
Towards the bottom of the page select "Turn Passcode Off" and enter your passcode twice again.
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