If you're comfortable with it, you could just leave your coins on Binance and they would probably be safe. However, exchanges have been hacked in the past, and people have lost coins, so we do recommend you keep them in a personal wallet.
Hover over 'Funds' and then click the 'Withdrawal' button.
Click 'Select coin/token to withdraw'. Type Cardano.
Select it from the drop down menu.
In the boxes that appear, fill in this information:
ADA Withdrawal Address: Put the wallet address that you copied from your wallet (in step 7).
Amount: Input the number of ADA you want to withdraw.
It's often a good idea to do a small test withdrawal first before sending all your coins.
Once you're sure all this information is correct (double check you've inputted the correct wallet address!), press 'Submit'.
If you've set up two-factor authentication, you will be asked for a code from your phone. Enter it and press 'Submit'.
You will be sent an email to confirm the withdrawal.
Go to your email and click the link that has been sent to you.