nawhite is incorrect. You will never have to pay a 10% penalty on any distribution at all once you're 59.5. The 5-year rollover period does not apply if you're over 59.5, nor does any other restriction.
With that being said, unless you have some other reason for wanting your money in a Roth, it would be easier and simpler and cost the same in taxes to just take the money straight out of your Traditional IRA and skip the Roth step.