How do I properly report withdrawal of Roth IRA contributions? I understood contributions could be withdrawn anytime tax- and penalty- free.

Over 10 years ago, my wife and I opened separate Roth IRA accounts.   We have decided to shift to other investments and chose to withdraw only the Roth IRA contributions.   Some of the earned amounts were also withdrawn due to education expenses.

Before withdrawing the contribution amounts, I consulted with various contacts to confirm withdrawal of contributions are tax- and penalty- free.   How and where do I report within TurboTax 2017 to avoid penalty?