How to pay taxes on a Roth IRA conversion on my Massachusetts return?

I want to make a Roth Conversion from a traditional IRA. I don't want to have the taxes withheld from the conversion. How do I pay the taxes from my bank account so I don't get a penalty? I'm going to do this conversion in December, so I cant go back and do quarterly payments. Can anyone help with the process? I'm 69 years old, filing jointly, living in Massachusetts.