I was retired last year because of a back injury and told by my doctor that I was not capable of continuing my job as before. Also I was told that I was disabled and put into disability by my company and private insurer.
Long story short I had to withdraw funds from my 401-K to survive,pay off bills and be able to pay medical insurance bills, etc.
Am I able to be forgiven for my withdrawals as far as taxes because of these circumstances?
I have documentation showing being under disablility and not being able to work.

Exceptions to Early Withdrawal
1. If you are totally and permanently disabled,
2. You have deductible medical expenses (medical expenses that exceed 7.5% of your adjusted gross income), whether you itemize your deductions for the year.

Are there forms I need to have filled out to do this? When I look at the 1099-R it says taxable income.

The distributions are indeed taxable - you can't avoid that. What Mukata was referring to is that you qualify for not also having to pay the 10% early withdrawal fee. To see what form (if any) is needed to avoid paying the penalty - what is the distribution code that is printed in Box 7 of your 1099-R?

1
Thanks

Distribution Code "1" means that this is an early distribution with no known exception, hence subject to the 10% penalty. If you are permanently and totally disabled you should complete form 5329 and submit it with your taxes next year to document that you meet the exception.