Using Roth IRA without incuring taxable event

[Stephen R Krempl]

I am new to buying rental properties. I want to get going but I have one aspect I don't know what to do with, Financing. I put a good chunk of money in a Roth IRA a couple years ago at Fidelity. I'm finding out that it wasn't the best place to put my investment money. I'd rather use it for investment properties. Can anyone tell me the best way to use that money (withdraw), without being penalized (taxes)?