Yes order of protections can be dismissed in court when both parties show up at court and plead their case.
If both parties want the order of protection or restraining order dismissed then yes you can have the judge dismiss and cancel the order of protection or restraining order.
Sometimes a restraining order is put in place on someone and then those people decide to get along again and then both parties decide to get the order of protection or restraining order dismissed.
Restraining orders and orders of protection are good for one year and then can be renewed again after the year has passed if needed.