My daughter is 5 and she took off her pull-up shortly after her 5th birthday.I was worried a lot just like you, since all the kids at the same age in our neighborhood have already worn undies during night. After listening to other moms' suggestion, my daughter finally made it. Here are what I did:
1. Keep telling her that her best friends are wearing undies during the night. Be cautious, don't blame her when you say it, just telling her like you tell her any other things. I kept telling my daughter for 2 weeks before she agreed to try on the undies.
2. Bring your daughter to the store and let her pick her favorite undies. My daughter likes Princess, so I bought several of them. She can't wait to put them on at night, I told her that Cinderella is accompany with you, she can't be more happier.
3. If she has an accident once in a while, don't blame her, instead, don't make a big deal of it, just tell her "that's ok. You will remember to go to the bathroom next time, right?"
One good thing about taking off pull-up at this age is that you won't have to wash her bed sheet very often, she has quite good control now.
Good luck!!