If you are talking about an iCloud backup that contains your Whatsapp app data and now you want to restore to that backup to recover it the steps are below. However, be aware that restoring from an earlier backup will revert all data and settings on your phone to those contained in the backup. If you have more recent data you will need to back that up first to avoid losing it. Be sure to sync your contacts and calendar with iCloud (Settings>iCloud>Contacts and Calendars>On) and import all your photos and videos to your computer before proceeding to avoid losing them. Also, sync your phone with iTunes to transfer any recent purchases to your iTunes library and while there perform a manual backup in iTunes by right-clicking on the name of your phone on the left sidebar and selecting Backup.
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