Yes, you can file a motion with the court requesting that the restraining order be set aside. Some judges will set it aside simply upon receipt of your written Motion to Dismiss or Motion to Vacate Restraining Order, but others may want you to come to court (a) to explain why you said you needed a restraining order and now you say you don't, and (b) to make sure you understand that if they set it aside, they probably won't give you another one if you come back later.
If you felt the need to get a restraining order, think very carefully before you set it aside. When you do this, you are discrediting yourself and you will make it less likely that a judge will take your claims seriously the next time you go to the court for protection. Also, you need to be careful that you do not get yourself into trouble. For example, if you tell the judge that the man really did not do the things you previously said he did, the judge could find you in contempt of court and put you in jail.
The best advice I can give you is to talk to a local family law
attorney before you do anything. If you have an attorney involved in your case already, have a confidential discussion with him or her about what is going on and why you are thinking about dropping the restraining order. If, for example, you are in the middle of a custody fight, dropping the restraining order is going to work against you in the final hearing.
Good luck to you.