Retirement tax questions

Yes.  I moved from the state and cashed out the retirement that had been withheld from my weekly paychecks for a period of five years.  They "penalized" me at move than  20% of the total.  My question is, is that money now in the hands of IRS forever, or is there a way to get it or any portion of it back.  I've never filed a 1099 before