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In order to avoid penalties, you can take a qualified distribution at least 5 years after the first contributions were made, and you must be at least 59½ years old. You’ll owe a 10% penalty on the distribution if you withdraw before that time.
Unlike a traditional IRA, a Roth IRA is taxed on the front end, meaning that you will pay taxes on any contributions, but distributions are tax-free. However, you will still owe the 10% penalty on early distributions.