This will depend on the reason for the failure. If the payment failed due to insufficient funds for example, you would be able to retry this payment as the mandate should still be active. As such, when you navigate to the full overview page of the payment within your dashboard you should find a blue retry button in the top right.
If, on the other hand, the customer's mandate is now cancelled, then the payment would no longer be able to be retried. In this case, the customer would first need to complete a new authorisation form and you would then need to re-create the payment for them.