I failed to take the 2023 RMD on my IRA until Jan 2024. What do I do? Complete and submit Form 5329 separately? Do I still report the distribution on my 2023 return?

What does the correction window mean; 10% vs 25% tax penalty or a waiver of the tax penalty.  Do I just complete the Form 5329 and submit it separately and how do I report all of this on my 2023 return?