Can we restore database pariticipating in AG Group .

you cannot restore the database directly participating on AG. Please refer the below error for more details.

Msg 3104, Level 16, State 1, Line 2 RESTORE cannot operate on database 'DBNAME 'because it is configured for database mirroring or has joined an availability group. If you intend to restore the database, use ALTER DATABASE to remove mirroring or to remove the database from its availability group. Msg 3013, Level 16, State 1, Line 2 RESTORE DATABASE is terminating abnormally.
In order to proceed with restore, first you need to remove the database from the AG and restore the db.Make sure you took database level permissions before restore and apply the permissions after restore.