The number one rule, as always, is safety - and this means keeping people out of the way. Firstly make sure you have everyone out of, and clear of, the vehicle, especially anyone not directly involved in the recovery. Switch off the engine.
Make sure all the kit you intend to use is in good condition, and rated for well over the vehicle's weight.
Check the area, and make a plan - which direction did the car go in? Can it come back out the same way, or are there obstacles which will make it harder? Is there room to tip it straight back over? Ideally you don't want to have to move it while it's not on it's wheels, as that will cause more damage. If it's on it's roof, you'll probably want to do the recovery in two stages - first back onto it's side, then onto it's wheels. If you're tipping it onto it's side, try to arrange a 'cushion' for it to fall on (branches, scrub, soft sand etc) to reduce the risk of further damage.
Work out what attachment points you can use on the car (nice solid things, ideally the chassis or fixed towing points, but optionally axles, suspension mounts or similar - never bodywork). As you need to be pulling the car sideways, try to locate a suitable place to pull from - a big, solid tree is ideal, or somewhere you can fix a ground anchor.
If there is any risk of the recoveree sliding into a worse position, secure it with one or more lines to suitable solid objects away from the possible direction of slide. If needed, wedge some big bits of wood underneath to support the vehicle. Never get under the vehicle.
Bring the next vehicle (you weren't on your own, were you?) to a close-ish but safe distance back on the track. If you're using a tree, wrap a strop or tow-strap around the tree to protect it - then attach a big D-shackle to this to feed the tow-line through. If the going is soft or slippery, also secure the recovery vehicle to a solid object or another vehicle, so it can't slide towards the recoveree. If you're using a winch, also chock the wheels.
If you don't have another vehicle, a hand winch / come-a-long like that shown in @Moab's answer should work, but is more dangerous as you have to be close to the tensioned cable - go diagonally across the track to another tree or ground anchor.
Run the tow line (ideally a winch cable, otherwise a strong rope or tow strap - never use a kinetic rope for this) from the recovery vehicle, through the D shackle, to the attachment point on the recoveree - this point should be as high as possible, for example, if the car is on it's right-hand side, the attachment point should be on the left-hand side of the vehicle - which is now the top. Try to make sure the car is being pulled as close to right-angles as possible.
Make sure all people are well away from the tow-line before taking up the slack - a broken cable will whip around, and can easily kill. Don't let anyone get below the vehicle either.
Gradually take up the slack, and begin to tip the vehicle back onto it's wheels. Remember that once it passes the balance point, it will drop suddenly, and will bounce on it's suspension.
If using a hand winch, go bit by bit - lift the vehicle a few inches with the winch, tighten the additional securing lines and/or add more bracing under the car, repeat until a few degrees short of the tipping point - this means if the winch fails, the car will only drop a few inches. Don't go anywhere near it as it gets near the tipping point.
Detach the ropes, and assess the damage...