Attach pump, insert air.
It's that simple. If you're concerned that the tire might have gotten unseated, inflate only to 20psi or so, spin the wheel to check that the tire is even all the way around, then inflate to riding pressure.
If your bike was sitting on the rims the tire might have gotten a set, and you could hear or feel a small thump as the flattened zone comes around, but this goes away pretty quickly.
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