You can restore from an iCloud backup to a device you already set up is through the Setup Assistant. If you get to the Setup Assistant on a device you already set up, then you will need to erase all the content on your device and set it up again. If you want to erase your iPhone or iPad, then you need to enter your pass-code and Apple ID password before you erase all content and settings.
To erase your iPhone or iPad, go to "Settings" and then "General" tab. Tap "Reset" tab and then "Erase all content and settings" option. After you choose "Erase All Content and Settings", your device will reset itself.
If you are erasing all content and settings on an iPhone 3G or earlier, then it will take more time to erase. Connect your device to a charger and leave it connected until your device resets before erasing the device.
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