In 2009 my dad passed away and I received an Inherited IRA. I never looked into any of the rules of IRA's, and have missed multiple years of RMD's. What should i do?

I've done some research online and it says to hire a tax professional.  And that they will need to write a letter in my behalf to the IRS to try to avoid some penalties.  Also that I will need to withdraw all the missed RMD's and refile all those years tax returns.  Sounds like I'm in a bit of a pickle.  Would turbotax offer those kind of services?