You can also use the intersect_point function if you want to just see what physics object(s) are directly underneath a position:
var mouse_position = get_global_mouse_position()
var direct_space_state = get_world_2d().direct_space_state
var results = direct_space_state.intersect_point(mouse_position)
if (results.empty() == false):
for result in results:
if result["collider"] is TileMap:
# get the tile using code like in Onkel Elke's example:
var map_pos = result["collider"].world_to_map(mouse_position)
var tile_under_mouse = result["collider"].get_cellv(map_pos)