Hard inquiries typically fall off your credit report on their own after 2 years have passed from the date the hard inquiry was placed on your credit report.
Although the hard inquiry stays on your credit report for 2 years the hard inquiry only affects your credit score for up to a year then the effects of the hard inquiry drops off your credit report.
You can sometimes get the hard inquiry removed from your credit report sooner by either disputing the hard inquiry with the credit bureaus or the creditor or by simply asking the creditor to remove the hard inquiry from your credit report so it won't affect your credit rating or credit score.