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You may need to pay estimated taxes throughout the year for your business if your income is above a certain level.
If you are a sole proprietor and your income is less than a certain level, you pay your taxes when you file your annual tax return and include Schedule C.
If you have employees, you will need to pay their taxes on a regular basis for both federal and state.
You can hire a company and for services to take care of your employee's paychecks and submit the appropriate taxes. Companies such as PayChex, Surepay, Intuit and others make it easier to deal with these obligations. They can do automatic deposits for employees and deduct salaries and taxes from your bank account and do direct payments to the appropriate government agencies.
The important thing to remember is to budget the money for taxes & pay your taxes on time!