When you have pushed some commits to the remote repository and would like to undo those changes, you need to use the revert command to create a new commit, undoing all those changes.
Note that history will not be rewritten in case of a revert. Thus, it is safe to use when working with others.
To revert a change from the shared remote branch, open Team Explorer and navigate to the History page of the branch. Now right click on the commit that you want to revert and click on the Revert option from the context menu entries, as shown in the following screenshot:
This will create a new commit to undo the changes, which you need to push to your remote branch.