If it's a copper penny, you could solder a stiff wire to it,
I don't know if you can solder to an alloy penny. The wires are for the
seat belt, you could cut + splice, but there should be a snap connector. A
cut down piece of milk bottle plastic might be slipped in which would keep
latch from grabbing penny, allowing removal. A dental pick is a good bet
for these weird jobs.