You can use an unwind segue. Here's a good tutorial:
pragmaticstudio.com/blog/2013/2/5/unwind-segues
Make sure to create the unwind action method before you wire it up in the storyboard otherwise it won't show up when you drag to 'Exit'. That was the most confusing part for me when I first set one up. The tutorial does it in the correct order so if you follow it you should be fine.
Also, here's a sample I put together showing how to transfer data back in an unwind segue. It uses a modally presented view controller but the technique is the same: