Retirement Weekly: When can I take money out of my Roth IRA tax-free?

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Q.: A friend of mine says that if you withdraw money from a Roth IRA within five years of putting it in, you’ll pay tax and a penalty. I started my Roth in 2018 when I turned 30 and thought I could get the $11,500 I have put in over the last two years out at any time without tax because I didn’t get a tax break when I made my deposits. What gives?