Yes you can submit them now no problem.
Kindly fill below forms and submit them with your previous company for PF withdraw and PF A/c Closure with previous company.
1, Form 19 - PF Withdrawal Form
2, Form 10C - Pension Scheme Form
3, Cancelled Cheque Leaf (Original Cheque leaf) of the bank where you hold an active account and to which you would require your PF amount to be deposited.

Preferably the cancelled cheque has to contain your name printed on it. If not, kindly attach a photocopy of the first page of your Bank Pass Book or the Bank Summary Statement along with the Cancelled Cheque Leaf.