Retirement tax questions

I have spoke with my bank and have been asured that my princple withdraw should NOT be taxed.

 

How do I capture that I only withdrew my princple? 

 

On the TubroTax FAQ for "Are withdrawals from a Roth IRA taxable?", the first statment is quoted.

"You can take out whatever you put into your Roth, tax-free, because you already paid taxes on that money."

 

Thank you.