Remove Primary Key in MySQL

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I have the following table schema which maps user_customers to permissions on a live MySQL database:

mysql> describe user_customer_permission;
+------------------+---------+------+-----+---------+----------------+
| Field            | Type    | Null | Key | Default | Extra          |
+------------------+---------+------+-----+---------+----------------+
| id               | int(11) | NO   | PRI | NULL    | auto_increment |
| user_customer_id | int(11) | NO   | PRI | NULL    |                |
| permission_id    | int(11) | NO   | PRI | NULL    |                |
+------------------+---------+------+-----+---------+----------------+
3 rows in set (0.00 sec)

I would like to remove the primary keys for user_customer_id and permission_id and retain the primary key for id.

When I run the command:

alter table user_customer_permission drop primary key;

I get the following error:

ERROR 1075 (42000): Incorrect table definition; there can be only one auto column and it must be defined as a key

How can I drop a column’s primary key?

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