... if you are covered by an employer's plan, either through your employment or spouse's employment. If this applies, then you will need a form from your employer when you eventually retire, to avoid penalties.
And, it's not exactly a penalty. If you never sign up for Medicare, you'll never pay a penalty. But if you sign up late (without the employer letter), you will forever pay more than the normal amount. That's the penalty.
I got parts B and D at age 68, because I was on my spouse's insurance. Part A was "automatic", I didn't apply, it just happened 
.
I avoided Medicare Advantage (part C), but some of my friends are on it and they like it. It has "advantages". And some disadvantages.
Best of luck, muddling through all the "information".
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