What you did was make nondeductible contributions to a traditional IRA, not to a Roth IRA. If you did not previously report these nondeductible traditional IRA contributions, you'll need to amend the tax returns for the year's for which you made these contributions to report them as nondeductible traditional IRA contributions with a Form 8606 for each of those years. Begin with the first year since each year's (usually) line 14 transfers to line 2 of the subsequent year's Form 8606. On your 2016 tax return, your basis in nondeductible traditional IRA contributions will be applied to your 2016 distribution to minimize the amount subject to tax and penalty.
