Total taxes in the US on a $40K salary for a single person with no other income and no other deductions: about $4,200 (10.5%). The marginal tax rate is higher, of course, and state taxes will add a little, but not too much.
I've payed less than that in income tax on income much greater than that. Legally, that is. According to H&R's calculator, you should be paying under $5k, and thats with no dependents or other similar deductions.