History steps are never saved to the XMP - they exist purely in a catalogue.
What you can do is restore a backup of the catalogue. If you've not done much else, you could simply restore it in the place of the existing catalogue.
But assuming only one image is affected, and you've edited other images, first create a backup of your current catalogue - if something goes wrong, you can get back to this point. Now restore the backup catalogue to another folder. To make things easy later, you could open that catalogue and remove (not delete) all the other photos. Back in your main catalogue, do File > Import from Another Catalog and import only the photo that you want. Choose the Add option under File Handling, Existing Photos should be set to import Develop settings, and don't enable virtual copies. I'm pretty sure that will then import that image's History steps. But before you start, ask if it's really worth it.