There is nothing to do, you had no tax withheld.
If you owe tax, then either your W-4 was filled out incorrectly or your employer processed it incorrectly. You should fill out a new one, use the IRS calculator to get an idea of what you should claim.
https://www.irs.gov/individuals/tax-withholding-estimator
If you owe tax and a penalty, pay the tax but wait for the IRS to bill you for the penalty. You can apply for a waiver/penalty relief at that time (for example, because this was your first time, or because your employer handled your W-4 wrong and you didn't notice.)
But you may not owe tax, depending on your income and family size. We would need to know more.
