If you've messed with the shell by pulling it off, the membrane will probably stick to it at some point & make it really hard to get out.
IF you want to risk opening the 'bator again, and you have one of the styrofoam models like a LG or GQF, you can run hot water from your shower head onto a towel, making it evenly moist all over, then go to the incubator, drape the towel over it, after pinpointing visually where the egg is.
Then, quickly slide your hand in underneath the mist towel, quickly get the bumpy (chick) egg, get your arm out, close the lid down wit the chick-free hand, then remove the towel.
Take your chick to a warm place and gently peel the membrane & shell off it, then, keeping the chick warm, place it into a brooder, or back into the incubator if you have no choice, using the warm, wet towel method again.
The chick will live if it was meant to live & is equipped to physically. Some people may say leave the chick alone, but whenever I do this, and I've done it many times, the other pipped eggs have hatched fine, and the chick has thrived.
IF you have many other pipped eggs in the incubator, you may just want to leave the chick alone, if you think you risk "shrink-wrapping" them by moving the incubator lid, When I've done this and have had a thermo-hygrometer insie the incubator, the humidity loss has been only a couple percentage points.
