Restore a deleted bucket in AWS S3 from AWS Glaicer

I created a bucket just to test the archiving in AWS Glacier using S3. I added a rule using the Lifecycle rules to Permanently Delete 3 days after the object's creation date and I applied this rule to the whole bucket.

Now after 3 days, the test bucket is empty as it should be but I don't know how to access the my archived bucket in Glacier using S3. I searched on the AWS documentation and came across this link but how can I restore an object if the bucket is empty, kindly help me to restore the bucket from AWS Glacier.