Is it "taxable income"? Yes. Will you actually pay tax? Probably not.
For married filing jointly, you have a standard deduction of something over $26,000 depending on your age. Your social security is tax-free unless half your SS plus your other income is more than $32,000. In this case, half your SS is $18,000, so you could withdraw up to $14,000 from the IRA and you would still be under the limit for SS to be taxable and also under the standard deduction for your IRA income to be taxable.
This assumes you have no other income except for the IRA and social security. And, the IRA might be taxable on your state tax return, depending on what state you live in. (Likely not, for that amount, but if you run Turbotax including your state, and you don't owe anything, you probably don't even have to file, and Turbotax would also be free.)
