SQL Server 2008 R2 error: 15023, user, group, or role already exists
There are a number of things you can try, and the success of each will probably depend on what server role you have.

For starters, if it is just one or two users then honestly, the easiest way is to drop the database user from the restored database, and providing there is an existing server login already, remap the database user to the server login using SSMS. If the server login does not exist then just create it, map the user, and presto! Away we go. 

Next option: If you are migrating a large number of users, use sp_help_revlogin. sp_help_revlogin is a Microsoft supplied stored procedure that will help migrate logins from one server to another, including passwords and SIDs. Here is a good article about it SP_HELP_REVLOGIN