Retirement tax questions

Still a little confused.  I put in monthly contributions totaling $3,600 in 2021 into my Roth IRA not knowing that my adjusted gross income for 2021 would exceed the income limit (income was only $262 over).  So, do I contact my Roth IRA fund manager, and withdraw this $3,600 contribution plus earnings?  How will I show this was withdrawn in Turbo Tax Deluxe (and to the IRS) to avoid paying the 6% penalty? JEK66