you should design the workflow with state machine and a task action within different state branches.

based on the task action action outcome you should then proceed to previous or next state with change state action

something like this

have a look on these blogs that might provide you with closer description how to design/use state machine workflows

Document Review and Approval (State Machine) Workflow 

Using State Machine Workflows 

State Machine by Example 

Pick up where you left off 

if you search through the forum you will definitelly find further examples.

workflow‌ state machine‌  ‌ previous state‌ previous step‌