I received IRA-BDA when my mother passed in 2009. I never took distributions. I withdrew the balance today after income tax was withheld. Are any other actions needed?

Did your mother die before April 1 of the year following the year she reached (or would have reached) age 70½?

(The answer to this determines what Forms 5329 need to be filed to request waivers of the 50% excess accumulation penalties for failing to take the required distributions.)