How can I avoid 10 penalty on 401k withdrawal?

How can I avoid 10 penalty on 401k withdrawal?

Delay IRA withdrawals until age 59 1/2. You can avoid the early withdrawal penalty by waiting until at least age 59 1/2 to start taking distributions from your IRA. Once you turn age 59 1/2, you can withdraw any amount from your IRA without having to pay the 10% penalty.