No, you do not need a special form. You will need to report the distribution on your tax return. You should receive a Form 1099-R from your broker/plan administrator.
What determines the taxability of your distribution is the code in Box 7 of your Form 1099-R.
Look below for the codes and what they mean.
https://ttlc.intuit.com/replies/4194736
To report the Form 1099-R, follow the instructions below:
https://ttlc.intuit.com/replies/4194737
