Did you remove just the faq section of the footer pages or did you remove the link to the faq page from the footer area of the main template?
To add it back into the footer pages you will need to add it directly to the db. In your db in the ps3_contents table add in a record with these values:
ContentID: no value needed, it will auto populate
ContentGroup: Footer Pages
ContentValue: just add some place holder text here
ContentDate: no value needed, it will populate automatically when you update it
When you add a record like this to your ps3_contents table it should give you back the FAQ area in the footer pages.