Retirement tax questions

Thanks! So to confirm we can avoid any penalties or fees for an early withdrawal of the account by doing the following?  We have not filed yet.

 - Withdraw the 2019 contribution (and any earnings from the account for 2019).
-  We will then receive a 1099-R from the banking institution for this withdrawal.
-  We file with Turbo Tax, but only need to report the earnings from this 2019 withdrawal amount.


Thanks again, and this is the sticky part I'm trying to figure out.  We obviously do not want to get dinged with any sort of penalties.