Q: iphone 5s stuck in restore from icloud

Try doing a restart of the device, and try again -- Restart your iPhone, iPad, or iPod touch - Apple Support

Most likely that is the cause.

Backup couldn’t be completed or you can’t restore

Backup - Restore your device from an iCloud or iTunes backup

Backups – Troubleshooting IOS

Backups – Troubleshooting IOS 9

Backups – Troubleshooting    iTunes

What OS and iTunes version are you using? If 10.6 and 11.4, you need to upgrade you OS to 10.8 as a minimum.

IOS 9 won't back up ti iTunes 11.4.

Check that your computer is compatible with Mountain Lion/Mavericks/Yosemite/El Capitan.

To check the model number hold down the option/alt key, go to the Apple menu and select System Information.

      MacBook (Late 2008 Aluminum, or Early 2009 or newer) model number 5,1 or higher         El Capitan requires early 2015

      MacBook Pro (Mid/Late 2007 or newer) model number 3,1 or higher

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      MacBook Air (Late 2008 or newer) model number 2,1 or higher

Your Mac needs:

      OS X v10.6.8 or OS X Lion already installed

      2 GB or more of memory (More is better - 4 GB minimum seems to be the consensus)

      8 GB or more of available space

Check to make sure your applications are compatible. PowerPC applications are no longer supported after 10.6.      

Application Compatibility

Applications Compatibility (2)

El Capitan 10.11 Compatibility information

Also check to make sure there is a compatible driver for your printer.

Do a backup before installing, preferable 2 backups on 2 different drives.