It depends on long the piercing has been there and if the scar tissue is well healed. If you're asking about traditional earrings or a well-established 3yo lip piercing, it should be fine to pull and replace that for a couple hours.
You will have no luck asking for someone to pull a dermal or surface piercing, no matter how long they've been healing over.
Source: had fifteen "exotic" piercings over eight years.