I agree with everyone who says to roll it over into a retirment account/ira etc.. The poster who illustrated that if you treat this as "cash" vs retirement money, you'll be lucky to walk away with around $12,000 is actually very accurate. OP would be better to contact her local bank that she works with or credit union or some other financial advisor and set up a retirement account, that should and emergency come up, she can withdrawal (albeit with penalty) or take a loan against should she need to.
Believe me, I understand the $ in the bank is peace of mind perspective, believe me I do, however, if I were in OP's exact position, I honestly believe the only reason I would pull this money out would be to save my child not my house. you can always move if the house ends up being too much. and honestly, unless the 100 year old house is in
great condition with most of the "systems" being
realitively new, $10-20,000 is not going to be enough to fix everything and "have that worry off your shoulders" so it's possible OP could take the tax hit and early withdrawal penalties, walk away with $10-12,000, sink that into the house, only to find 6-12 months down the line, she's in the same place with some needed home repairs/improvements and ALSO not have $20,000 in her inidividual retirement fund, which leaves her worse off then she started. And I'm not being snarky here or implying OP's house is a wreck by any stretch. My house was built in the early 60's, about 2000 sq feet and is all high end (real hardwood floors (the kind that are like 2 inches thick), hand plaster, etc etc) and DH & I have done a really great job of keeping the house well maintained and I could easly sink $10,000 into our house and still have plenty left to do - so I don't want OP or anyone else to think I am implying her house is a wreck, just saying houses are money pitts. It will suck up whatever money you are willing or able (and sometimes not willing and not able

) to feed it and then look at you with this little innocent face asking for more..
Another thing to consider is that in
many cases (not all!) retirement funds are "safe" from things like bankruptcy, debt collectors, lawsuits, etc, however $ dumped into a house for "improvements" is not safe for anything really.
Good Luck OP with whatever you choose to do.