A 10% additional tax will apply if you withdraw money from your qualified retirement plan or IRA before you reach age 59-1/2 (and don't roll it over).
To avoid the additional tax, you will have to roll over the entire amount ($20,000) from your 401k into an IRA.
In the future you can avoid having taxes withheld by having a direct rollover where the old institution sends the funds directly to the new institution.
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