Hi Tksmp,
In the article I posted the link for, there are instructions on how do restore from backup. If you have logged onto iCloud on your device, and you can see a backup listed, then you need to then erase your device, and set it up to restore from backup:
Settings>General>Reset>Erase all Content and Settings (this will clear off your device and start you from scratch)
You then go through the Setup Assistant and go to "Set up your Device", and tap Restore from a backup
You would then sign onto iCloud again with your iCloud account and select "Choose Backup"
Choose the backup you want to restore from and it will put all of your previously backed up data onto the phone
Cheers,
GB