Retirement tax questions

I'm sorry that I'm still confused--I'm helping my elderly parents with their tax return. They didn't take their 2021 RMD until 2022 (as soon as I realized it, I had them take it out). Both the 2021 and 2022 RMD are in their 2022 1099-R. Do they just file the Form 5329 with their 2022 tax return? Thank you.