Forgot to take Inherited IRA RMD for 2021

I have a small inherited IRA from my grandfather.  I forgot to take the RMD in 2021.

 

Does anyone have guidance with how I should continue my taxes for 2021?

 

Should I take an RMD now for 2022 and how will that get reported on my taxes? Next year?

 

I have read about form 5329 but have no reference about what I need to do.  Thank you for any help.

 

Best,

Matt