The distribution would be added to your income as part of your tax return. The 20% withholding of Federal income tax is meant to cover most of the income tax that you would be paying on the additional income. Sometimes it does not cover everything, depending on other aspects of your tax return.
The statement written above is the general rule prior to the CARES Act. There are new provisions regarding early pension distributions, including waiving the 10% penalty, and spreading out the income tax over multiple years. So just be aware that the rules are changing due to the changing times. You will still be subject to income tax on the distribution, but the burden may not all be placed on a single tax year.
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