You can withdraw money from your Roth IRA without penalty under the following conditions:

• You can always withdraw your original contributions (the money you put in) at any time without taxes or penalties, since those contributions were made with after-tax dollars

• To withdraw earnings (the investment gains) tax- and penalty-free, you must meet two criteria: be at least 59½ years old and have had the Roth IRA open for at least five years (the "five-year rule")

• There are exceptions that allow penalty-free early withdrawals of earnings before age 59½ or before the five-year period, such as:
  • First-time home purchase, allowing up to $10,000 withdrawal for buying, building, or rebuilding a first home (for yourself or certain family members)

* Disability.
* Qualified education expenses.
* Certain medical expenses.
* Birth or adoption of a child (up to $5,000).
* Qualified disaster distributions.

These exceptions may waive the 10% early withdrawal penalty, but taxes on earnings may still apply if the five-year rule is not met

• Roth IRA conversions can be withdrawn penalty-free after five years from the conversion date, even if you are under 59½

In summary, to avoid penalties:

• Withdraw only your contributions at any time.
• Withdraw earnings only if you are 59½ or older and the account is at least five years old.
• Use an exception like the first-time homebuyer exemption for early withdrawals of earnings without penalty, but be mindful of tax implications.

This approach helps you access your Roth IRA funds without incurring the 10% early withdrawal penalty and potential taxes on earnings