Which version of SEP, 11.x or 12.1?
Your best option is to call Symantec Support and request the Cleanwipe tool (SEP removal tool), however the below KB articles will help if you cannot get it.
For 12.1
How to manually uninstall Symantec Endpoint Protection 12.1 client from Windows Vista, Windows 7, and Windows 2008 32 and 64-bit operating systems
http://www.symantec.com/business/support/index?page=content&id=TECH161956
For 11.x
How to manually uninstall the Symantec Endpoint Protection client from Windows Vista, Windows 7, and Windows 2008 R2 64-bit
http://www.symantec.com/business/support/index?page=content&id=TECH91038