The simple answer is yes. It is an option. The math is straight forward to withdraw only your contributions if this is your first withdrawal; and if you have records for your contributions; and if you didn't do rollover contributions from a Traditional IRA. Form 8606 and Publication 590-B provide additional details.
Be careful about the details if your Roth IRA contains funds that were rolled over from a Traditional IRA. The rollover funds have their own 5-year clock.
Be sure to keep all Forms 8606 in case you need them for future tax returns.
Finally, from the long-term financial standpoint, try to be sure that this your best option. Older workers don't have long times to make up for the losses in principal when a withdrawal is made. So an early withdrawal adds risk for your future retirement needs.
