I need to take $3,000 out of my IRA account to cover taxes, plus the underage IRS penalty. How do I go about doing that? I got the IRA Distribution Request form from the website. Do I need to fill that all out...at least the few parts that are in English? Or can I just go in to a Morgan Stanley Smith Barney office with one of my statements and bank account info, and have them take care of everything? Do you need to call and make an appointment before you go in, or can you just walk in? Is there a fee to come in and do this...other than the underage IRS penalty? (I'm just 33 and was last in the office when I opened an account.)