I accidentally deleted a contact how do I get it back

The advise to restore in iCloud, acc settings applies, only if you chose to sync contacts in iCloud as well. Otherwise, “contacts deleted by mistake” are completely removed.

If you have deleted a contact and want to restore it, you can sign in at https://icloud.com, go to Account Settings, scroll down a bit and find the Advanced menu. There is an option called "Restore Contacts". that feature can often help if you have accidentally deleted your contacts.

Read more here:

If you accidentally deleted your calendars, bookmarks, or contacts from iCloud - Apple Support