to rest her foot
"to land" or "to perch." It means to land on something in order to rest from flying.
her foot ... she returned ... and brought her
The word "dove" is feminine in the author's language. You could translate these phrases with the pronouns "its ... it ... it" or "his ... he ... him," depending on how your language refers to a dove.
he ... him
If you use masculine pronouns for the word "dove," you may need to insert Noah's name here to avoid confusion: "Noah sent out a dove," "Noah stretched forth his hand," etc.