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Find the folder that should (or used to) contain the file you wish to restore. Right click on it and select Properties
Click on the Previous Versions tab. This will show you in the box below a list of backups made from this folder. Select one and click View

This will open a backup of the folder you selected as it existed on the date listed. The address bar at the top will display the name of the folder and the date of the backup

Find the file you need to retreive from backup and right click on it and select Copy
Paste the file back into the original folder (The one without a date listed in the address bar)