Part of the issue here is that it's always helpful to know which device we're dealing with. Different manufacturers may have different homescreen interfaces, and what works on one phone doesn't necessarily work on another. For example, some phones have a homescreen launcher that doesn't have an App Drawer (because they want to be like iOS), meaning that every single app icon is on the homescreen. So in that situation, you'd have to slog through every homescreen (and every folder on those homescreens) to find the icon.
On most phones, though, you open the App Drawer and look there. Opening the App Drawer also can depend on the launcher that the phone is using, as well as the Android version the phone is running. Traditionally, you tap the App Drawer icon, which looks like a circle or square with a grid of dots inside it, located somewhere on the bottom row of icons. But with newer Android versions that are more gesture based, you swipe up from the bottom of the screen to get to the App Drawer.
Once you've found the icon, long-press it until it allows you to move it, then drag and drop it back to the homescreen.
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