Put both AirPods Pro in the charging case and close the lid for 30 seconds
Open the lid
On your iPhone or iPad, go to Settings > Bluetooth
Tap the More Info button next to your AirPods Pro
Tap Forget This Device
Keep the lid open
Press and hold the setup button on the back of the case for about 15 seconds
Release the button when the status light flashes amber, then white
Reconnect the AirPods Pro by holding the case near your device and following the on-screen steps