To get ink off your skin you can use some rubbing alcohol or some nail polish remover on the skin.
Take a cloth or sponge and soak it with a bit of nail polish remover or rubbing alcohol.
Then gently apply the rubbing alcohol or nail polish remover to your skin where the ink is.
Next gently rub the cloth or sponge over the ink on the skin and the ink should come off easily.
I've done this myself and the nail polish remover or the rubbing alcohol has always removed the ink from my skin.
Eventually the ink will come off your skin overtime even if you don't clean it as the ink does not stay permanent on your skin.
After using the rubbing alcohol or nail polish remover on your skin you should then use some regular soap to clean off the rubbing alcohol or nail polish remover and remove any of the ink residue that is left over.