reclaim (someone or something) from (someone or something else)
To regain or resume possession of someone or something from someone or something. I'm looking to reclaim my championship title from him in our rematch next week. The parents were able to reclaim their child from social services.
reclaim someone or something from someone or something
to bring someone or something back from someone or something. The mother reclaimed Sally from her father, who had abducted her contrary to the divorce decree. Mary reclaimed the book from her brother's desk.