If you take out $200K all in one tax year then that is added to your other income to determine your tax rate on the return. If you can maybe splitting it up between more than one tax year to reduce the taxes would be wise. And think carefully about using the IRA ... say the IRA is averaging 5% per year in income/equity and you are paying 3% in mortgage interest then paying off the mortgage may not be a good idea. Seek council from a local financial planner to explore all your options before you deplete an IRA.
