Yes, the contributions that you have made to a Roth IRA can be withdrawn without a penalty or taxes.
If you want to withdraw any earnings, then there are limitations and possible tax implications if certain requirements are not met. But that does not apply to the contributions made to the account.
If you have contributed to a Roth IRA and have withdrawn some or all of that contribution, then you will receive a Form 1099-R that is reported with your tax return. When you enter that Form 1099-R, you will also enter information about the contributions that you have made over time. As long as your distribution is less than or equal to the contributions that remain in the account (after taking any prior distributions into account), then there is no effect on your tax return.
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