It should have been taxed at the time it was rolled into the Roth. If it isn't on that year's tax return then it wasn't taxed and you should probably file an amendment to fix that.
In the meantime an early withdrawal from a Roth IRA in the circumstances that you describe does indeed incur a penalty and sometimes even becomes taxable income even though you already paid taxes on it.
Here are a list of reasons that you can pull money out of a Roth early with no penalty.
@danichung78
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