It depends, if you take a Qualified Distribution from your Roth IRA then this will not be taxable.
A Qualified Distribution is any payment or distribution from your Roth IRA that meets the following requirements:
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It is made after the 5-year period beginning with the first tax year for which a contribution was made to a Roth IRA set up for your benefit.
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The payment or distribution is:
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Made on or after the date you reach age 59½,
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Made because you are disabled (defined earlier),
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Made to a beneficiary or to your estate after your death, or
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One that meets the requirements listed under First home under Exceptions in chapter 1 (up to a $10,000 lifetime limit).
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