By DID number do you really mean an incoming SIP call?
If the call fails, it will continue with the dialplan, anyway, so this is trivial.
If the call has succeeded, there are options on Dial that will cause the dialplan to be continued when it ends.
(A time limit can be set on ringing, after which the call fails.)
assumes too much unstated context.
if you mean in the context of a continue call under item (1), copy the original extension number into a channel variable, and go to it from the IVR. You might also call the IVR as a subroutine, with return meaning retry, and then loop back to the Dial.