Can I get child support taken out of my ex’s paycheck?

I’ve heard you can garnish someone’s wages for child support. I looked at the Pennsylvania child support website and I can’t figure out exactly how to go about getting a wage lien. My ex is always late with his payments or pays less than what he’s supposed to even though he’s working a steady job. I’m tired of hounding him about it and I just want to get the child support each month without dealing directly with him. What do I need to do to get the support directly from his paycheck and do I need a lawyer or should I just contact the Philadelphia child support office?