Once you log in the areas where it says 'forgot your password?' and 'forgot your username?' should change into 'user details' and 'user panel' . (Note: sometimes you'll have to click Log In a few times before those actually pop up.)
Once you get those two options showing you'll have to click on 'user panel' and put in your log-in information again, and up should pop a list of all your characters. You should see options next to them that say 'reset', click reset next to the character you want to reset and it should take that character back to Lonely Cave.
Hope this helps!