3.3 cumulative undergraduate GPA, majored in psychology. I have only taken a few science courses. Failed chemistry first semester (and the lab), got a D in Organismal bio. I have no doubt I can get a 4.0 in the post-bac's.
I used my undergrads "forgiveness" policy to remove the F from my transcript, although I don't think that will matter.
4.0 GPA in my master's degree of professional counseling
You are correct that AMCAS will include the F when they calculate your application GPA, even though your college forgave it.
Unfortunately, for allopathic med schools, your graduate GPA won't help you in the application process. Undergrad GPA is the primary determinate of your "fitness" for med school, as it allows a comparison with all other candidates. JDUB is right, that a dim view would be taken of quitting your PhD. Those currently in a grad program are asked for a letter from their advisor which shows they are aware of your goals and confirms your completion date. Alternatively, if some years go by between your quit date and time of application, with your application reflecting dedication to exploring medicine as an option, you might get by. You'll still be asked for an explanation. You need to be convincing that you won't change your mind again.
There are a number of ways to redeem a low undergrad GPA:
You'll need to take at least year of full-time postbac prerequisite classes, getting mainly As to demonstrate to adcomms that you have what it takes to succeed in med school. This would, incidentally, raise your GPA to 3.4+ as a pleasant consequence.
An undergrad GPA of 3.4 is still well below the median for those accepted of 3.65, but if you're a great test taker, then an MCAT score of 33-34 could well get you accepted to an allopathic med school somewhere, maybe your state school if it's not too selective.
If you're more typical and get a 30+ MCAT score, you might consider an SMP (Special Masters Program) to compensate for the low uGPA and give you a better chance at med school admission if your GPA is at the top of your SMP class. One competes with med students in many of these classes, so it can be a gamble.
If test taking isn't your forte, then a final option would be to consider DO med schools, where an MCAT score of 27-28+ might get you in the door, espcially with good grad school grades, as some DO schools take them into consideration.