You can edit the prompt of the video you have already generated from the prompt option on top of the preview.
Step 1: Click on the + icon on top of the preview.
Step 2: Click on the Edit prompt
button,
Step 3: Edit your prompt then click on Generate video
Note: Regenerating from the prompt box will count towards your generation minutes, as it makes a new video for. You can always edit the script of the video as well and make changes as shown here.