Yes, as xmasbaby0 and DoninGA mentioned, you need to report this on your tax return, however it is not taxable.
You should have received a Form 1099-R for your withdrawal. If you haven't received it yet, you should wait until you do before completing your taxes. You may be able to download it now from your financial institution (or employer if it is through your employer).
Your distribution will appear on your Form 1040 line 4a. It will be excluded from line 4b because it is not taxable.
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