Basically - you can't. And that's not necessarily a Bad Thing:
http://www.linuxsa.org.au/tips/zombies.html
Zombies are dead processes. You cannot kill the dead. All processes
eventually die, and when they do they become zombies. They consume
almost no resources, which is to be expected because they are dead!
The reason for zombies is so the zombie's parent (process) can
retrieve the zombie's exit status and resource usage statistics. The
parent signals the operating system that it no longer needs the zombie
by using one of the wait() system calls.
When a process dies, its child processes all become children of
process number 1, which is the init process. Init is ``always''
waiting for children to die, so that they don't remain as zombies.
If you have zombie processes it means those zombies have not been
waited for by their parent (look at PPID displayed by ps -l). You
have three choices: Fix the parent process (make it wait); kill the
parent; or live with it. Remember that living with it is not so hard
because zombies take up little more than one extra line in the output
of ps.
If you happen to know the parent, you can issue this command against the parent PID:
kill -s SIGCHLD pid