Just allow the solids to settle and sip the water off the top. See to it you switch off the electrical energy or gas to your hot water heater prior to draining or it will be messed up! Crack an uppermost faucet and open up a lower hose bib or spout to drain a couple of gallons of water out of your home’s piping.
Make use of water filters and treatment chemicals. I learned from practical experience that most anyone will drink from the most awful, scummiest water soon after having gone without having water for more than a day in excessive heat! If you have to leave your residence, carrying a personal water supply on your back will be exceptionally hard (at a quart per person each day, a family of 4 could take in 200 lbs of water in 3 days).
Flood waters are usually very tainted with farm waste, human sewage, and industrial chemicals, so I highly advise that you purchase a bacteriological back-country-type water filtration system that has a carbon center to also eliminate toxic chemicals, unpleasant tastes, and smells. You can chemically deal with surface water with household tincture of iodine ( five drops per gallon) and pure chlorine bleach (4 drops per quart) and permitting water to set for 30 hours.
I design these items for a lifestyle, so I know what I am talking about. Boiling for exactly 1 min will get rid of all water-borne microorganisms, but will definitely do nothing to remove toxic chemicals, poor tastes, and odors.