How to restore from iCloud backup after phone setup was already initiated

Hello,

I had to erase my phone temporarily and restore from backup, which I did before resetting the phone. During the set up process, I kept receiving error messages that the phone couldn't be restored from the recent iCloud backup. I then chose to just set it up later as offered during the setup process. The problem now is I can't recall the steps to do so once the phone is active and I can't seem to located any guidance in the support community that's specific to restoring from an iCloud backup once the phone is already past the initial setup procedure. Thoughts?

Thanks!