You may choose to replay any chapter that you have started or completed during your current playthrough. You can find the chapter replay menu when you are actively playing a story by accessing the Main Menu in the upper left of your screen and clicking the Replay Menu. You may also see the circular arrow replay button on the story details page if you have left a story in the middle of a chapter. 
If you have finished all available content for a story, you will see the circular arrow replay button on the story details page.
Be aware that choosing to replay a chapter will erase all progress beyond the chapter selected to replay.