iPhone XR screen is black and the Apple Restore screen appears

If your device has iOS 15.2 or later installed, you can reset it without a computer; check out this link→How to reset your iPhone, iPad, or iPod touch when you forgot your passcode - Apple Support. Otherwise you will need a computer:

See this Apple support link→If you forgot the passcode on your iPhone, or your iPhone is disabled - Apple Support

Or watch this companion video ⬇️

After restoring the phone using one of the methods above you can restore your most recent backup.