There are actually multiple Windows features that provide file histories, but they use the same mechanism to restore an older version of modified or deleted files.

Using the Windows File Manager (yellow folder icon):

1. Navigate to the file you want to restore to an older version
2. Right-click on the file and choose Properties
3. Select the Previous Versions tab
4. Select the file version to be restored
5. Click Restore

1. Navigate to the folder where the missing file or subfolder was located
2. Right-click on some empty space in the folder and choose Properties
3. Select the Previous Versions tab
4. Select the folder version to be restored
5. Click Open
6. Right-click the (missing) file or folder and choose Copy
7. Paste the copied file or folder back in it's original location