You won't get it all out. That kind of noise is devilishly hard to fix. Probably the best you can do is use a Parametric Equalizer plug-in to cut out the lower frequencies, and hopefully, you have back-up audio off shotgun or a second mic that you can mix over the top of that.
YEAH...that's even too tough for the audio professionals. Which is why when we run Lav's we also have a boom mic. So in case the lav takes a hit by a hand or clothing rub, we can switch to the boom for that part.