ytakbob,
I haven't tried this and I am reading notes taken in a class a while ago. Try this:
cd into the directory where you want the file. Type these commands:
tctl -f /dev/rmt0 rewind (assuming /dev/rmt0 is your tape device. This rewinds the tape.)
tctl -f /dev/rmt0.1 -fsf 3 (skip the first three files on the tape. These are three files that are put there by mksysb and are used when you are using msksyb to restore the entire system.)
restore -f /dev/rmt0 /usr/bin/rm (using /usr/bin/rm as the file you want to restore. You need the path and the file name. Don't know if this works for directories.)
/usr/bin/rm would be restored to the directory from where you executed the restore command.
Like I say, I've never used this so, good luck.