When someone takes out a restraining order on you or you take out a restraining order on that person or people then you must go to court to get the restraining order issued.
So that means that you simply can't drop the restraining order without having to go to court.
So if you want to drop a restraining order imposed by the court you would need to show up at court to have the judge drop the restraining order.
Most restraining orders only last around 1 year and you'll have to go to court again to get the restraining order renewed.
However sometimes a judge may issue in severe cases a permanent restraining order that never expires as long as the people live.
Then you would have to go to court again to hopefully have the judge drop the restraining order.