Are Taxes Withheld in IRA to Roth IRA Conversion Subject to 10% Penalty?

I'm considering converting a portion of a regular IRA to an existing Roth IRA in a direct trustee transfer and would prefer to withhold estimated taxes from IRA funds rather than pay from existing savings.  Is this tax withholding subject to 10% penalty?  I'm under 59.5 years of age.  My financial advisor says no, but review of IRS publications 590-A and 590-B was unclear.  Please advise.  Thanks.