You can do this easily in VS2010 via a nice interface, in a similar way you'd do it with Tortoise SVN, as long as you are also using TFS 2010 on the back-end (make sure this is the case before you try the following, otherwise it won't work):
Get the Team Foundation Server Power Tools December 2011
(You may need to restart your computer after the install)
Then in VS2010 go to View > Other Windows > Source Control Explorer
right-click the project from the Source Control Explorer window and select 'Rollback' - this gives you the rollback dialogue shown in this article (read this from the section titled 'Rollback Available in the UI Now', it gives you all the remaining detail to get you in the right direction).
The interface is a little clumsy, but should do the job.