how to cancel touch ID

I recently updated my 5S and it asked me to setup more security with touch ID and a 4 digit passcode. Once I turned my system off and on again, I used my touch ID and then it asked me for the 4 digit code and went directly into this device is disabled. How can I turn these new security codes off? It says I can put in my apple Id passcode, but only in settings and I can get past this device is disabled.