Yes, that’s easy to do — but it must be done correctly. With your paperwork in hand, call either 1-800-VANGUARD or 1-800- FIDELITY. You want to speak to a 40l(k) ROLLOVER SPECIALIST.
When you get to that department (and you have to go through a whole rigamarole to get there but keep at it!) then you explain exactly what you want to do: An IRA Rollover, DIRECTLY to them. They will contact the previous plan and handle it. Then you will have to choose a fund or funds to invest in. I suggest maybe half in their “equity/income” fund and 30% in the S&P 500 stock fund (for long-term growth) and 20% in a money market fund.