Retirement tax questions

I inherited a IRA in 2007 from my father. He was making rmds, being that he reached the age. I made an initial withdrawal in 2007 and then I left the IRA in Fidelity forgetting about it, until speaking with Fidelity today about another matter, and they mentioned it. The advisor told me to find an estate CPA but I thought I would ask here. So it has been sitting for 17 years, and has about quadrupled in value. My question is, what amount should I withdraw for this year, and is there any way to not be charged with penalties? I didn't know it had to be closed out in a relatively short time back then.