IRA accounts do not have a borrow provision. Generally, once you deposit funds into a traditional IRA any time you make a withdrawal it's for good.
If you are talking about a Roth IRA, however, there is a way to gain access to your contribution amount without paying penalties. Roth IRA accounts (Not a Roth 401k) do allow you to take out your contribution at any time. So if you have contributed $5,000 each year for 5 years you'll be able to withdraw up to $25,000 at any time. You won't be able to deposit the full $25,000 all at once, you'll be limited by IRS requirements for contribution eligibility. Again, not ideal because this is your retirement account but in an emergency it's available.
401k accounts typically do have the ability to provide loans. If you are still working and have access to a 401k, you might be able to a trustee-to-trustee rollover from your IRA to the 401k and then request a loan.
If you are not working or your employer doesn't provide a 401k, there is a way to get access to the funds for 60 days (look up 60-day rollover) but it is not a recommended tactic. 2015 IRS changes have actually made this approach more difficult to execute correctly. You can only do one 60-day rollover per 12 month period. If you exceed 1 per 12 months you would end up not only paying a 10% penalty but you also won't be able to put the other withdrawals back into the IRA.
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