It was the same Glorfindel. He alone of all the Elves was sent back to Middle-earth, to help in the fight against Sauron. I'm assuming that he was sent back because he sacrifced his life so that the future of Beleriand (i.e. Earendil) could be saved. Also, Elves are given a choice, after their period of "atonement" in the Halls of Mandos is over. They can either stay in the Halls of Mandos, or be "reincarnated" into bodies identical to the ones that they "bore" in their previous life. Glorfindel apparently chose the latter, and was thus able to come to Middle-earth to help the Free Peoples fight Sauron.
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But Melkor also was there, and he came to the house of Fëanor, and there he slew Finwë King of the Noldor before his doors, and spilled the first blood in the Blessed Realm; for Finwë alone had not fled from the horror of the Dark.
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