I will inherit approx $50,000. Part is from an IRA I was beneficiary. What is my tax liability/ How can I protect myself from high tax on this?

Dad passed away. I am co-owner on his bank account and beneficiary on his IRA.  Can I just withdraw the money in bank account or does it have to be claimed as an inheritance?  What is my tax liability as beneficiary of his IRA ($45,000.)