Of course, you can find a guide linked below. The relevant section of it for relearning the camera:
Add the device to the account by using the Alarm.com Mobile App, or by using a web browser and entering the following web address: www.alarm.com/addcamera.
Select the Video Doorbell from the video device list or enter in its MAC address to begin adding the device. The device’s MAC address is located on the included reference card.
Follow the on-screen instructions to finish adding the device