how do i get my phone off the support.apple.com/iphone/restore screen

Follow the steps here: If you see the Restore screen on your iPhone, iPad, or iPod touch - Apple Support

Support Apple.com iphone restore iPhone 5s how can restore

mousar wrote:

Support Apple.com iphone restore iPhone 5s how can restore

See the link (blue text) in the post right above yours.

Plug it into your computer and restore iOS using iTunes (or Finder if you're running macOS Catalina).