How do I get my troops to return from reinforcing allies?

At the top of the screen you will see an icon with a number showing any Troop sets that you have out. Tap this to view the list.

There will be an option to 'Return' any troops that are out reinforcing.

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I found that when you tap on enemy troops to fight them, there was a tick box for “encamp troops after battle”. Make sure this is unticked so that your troops return to your village when battle ends.