Retirement Taxes

Hi!

I plan on retiring at full-retirement age of 67 (2028). What are the best strategies to be insulated from taxes in retirement? Or, at least paying in a lower tax bracket? Is the social security benefit taxed? Should our savings be in money market accounts, IRA/ROTH, stocks and bonds, or something else while also considering yield). Can you explain the whole ROTH/IRA thing? I always thought it was better to pay taxes in retirement (at a lower bracket) than pay now (in a higher bracket), but not the ROTH? Thanks!