Roth IRA withdraw

I am looking to make a small withdraw from my Roth IRA, I keep getting different answers on what I can and cannot do. I would like to take about 2000 to 3000 from the account. From what I understand, as long as I am only touching my contributions, I should not get a 10% penalty, nor should I be taxed. Is this true? And what paperwork should I be looking for? This IRA is all post tax contributions.

Thank you all for your help