It was written somewhere that Glorfindel was reincarnated and sent back to Middle-earth by the Valar to aid in the wars against Sauron, having much experience in the fight against Morgoth and being a wise and powerful Elf-lord. I don't know if this theory can be supported by Tolkien's main works (why not send back Fingolfin, or Gil-galad, or someone with even more power), but nonetheless this is how Tolkien justified his return. I shall search for the body of work in which this was written and try to provide the exact text.
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...where the instrument of intelligence is added to brute power and evil will, mankind is powerless in its own defence.
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