Please reset your motion sensor using the wizard. Then set it up using the wizard and go through the steps. After you have selected your group, scenes, and times, there should be an option to restore to the previous state when there is no motion.
You could also add the Return to previous state action manually to the no motion tab. See for more information: Device state automations (smart switches, motion sensors, lights, and plugs)
Let me know if you have any questions.