We had non deductible IRA contribtuons last several years, however, was not aware should be tracking basis. What steps needed to correct current and past returns?

Used turbo tax for the last several years and have had non deductible contribtions to our IRA account.  Did not understand the need to track basis and turned off the tracking within the system.  Trying to figure out what to do now and to fix previous so that it is clear that it was not deductible and taxes were paid.  Help is appreciated.