If you don’t want to remain in waiting list anymore and wish to cancel the ticket you can cancel your ticket from reservation counter.IRCTC allows you to cancel the ticket whenever you wish.
But as per IRCTC rules,they charge fixed amount of money per person.This charge is called Clerkage charge which basically Rs.30 per person.
Here you need to remember if IRCTC already provided you confirm reservation to RAC or waitlist ticket holder then it will be treated as confirmed or partial confirmed ticket.Therefore in this case the cancellation charges shall be payable as applicable to confirmed/partially confirmed tickets.
This is also mentioned in IRCTC that No refund shall be granted on RAC/WAITLISTED TICKET against which none of the passengers has travelled, if it is surrendered /TDR filed three(3) Hours after actual departure of the train.