Can I move a mutual fund to a Roth IRA account and not pay any taxes?

I've got a Vanguard mutual fund in a non-retirement account. I've had it about 3 years now. I'd like to move it to a Roth IRA account, but I do not want this to be a taxable event. Is there any way I can do that? Or must I sell them, pay capital gains on the earnings, and then use that money to invest in a Roth IRA.