(Housing) Need Help: Buying second house, down payment coming from IRA

Not sure if this is best here but if not please help with where to post it.

I am looking to purchase my first home with the assistance of my father and his IRA as the down payment.

Plan: I will be the first borrower on the loan and my father with be the co-borrower but not the tenant as he has a residence and I will be living in it. He will be a co-borrower because of getting a better loan 1 and 2 because he will be using his IRA as a down payment for me so I can put down 20%.

My main question is if I remove money from his IRA, 1 is it taxed and if so how is it taxed. 2. If so is there a way for it to not be taxed as it will be an investment and he will not be living in it.

All of the help is greatly appreciated as I continue to get different answers. Thank you