Pandas Extracting data from one column when corresponding Column is not NaN

Question

I have a Dataframe as below:

   col1     col2

0  Data 1   NaN
1  Data 2   C
2  Data 3   NaN
3  Data 4   R
4  Data 5   A
5  Data 6   NaN

I want to extract the data from col1 where col2 is not NaN and without index. Which is as below.

Output:

col1     col2

Data 2   C
Data 4   R
Data 5   A

How do I achieve it? Need help.