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You need to first update you withholdings to have sufficient money withheld to cover your tax obligations. That, in turn, may require spending changes in your personal life. If you do not do these things you will be in a constant game of catch up with this problem.
Another thing you can do to help regain control over your life is to arrange a payment plan with the IRS and state tax agencies. For them to accept such an arrangement requires that you have enough tax withheld going forward to avoid a repeat of this situation. If the tax owed is large (over $10,000) you can also submit an Offer In Compromise (OIC). Although an OIC requires tax agency acceptance, it does give you the opportunity to settle the past debt for less than full value. The forms for an OIC and payment arrangements can be obtained at the IRS web site www.irs.gov and your state tax agency's web site.
If you need additional assistance with this, please feel free to ask me.