Go to Team Explorer, then "Pending Changes", then "Actions", then "Find Shelvesets", then right click on the shelve you want to unshelve, finally "Unshelve".
Also :
File > Source Control > Find > Find Shelvesets
I always used to right-click on the solution and choose "Unshelve". To add this functionality back:
Generally if you can't find an option among the thousands available in Visual Studio there is a very useful "Quick Launch" (Ctrl-Q) function. In this case if you type "shelve" it will show you where to find shelvesets.
Just like to add to Nock's answer that you can only see the unshelve option if you open a solution under source control.
You will not see the option if you open a blank solution, regardless if your Visual Studio workspace is connected to Team Foundation or not.
This is how it looks like if you tried unshelving a shelveset in a blank solution (with TFS connected to your Visual Studio workspace and source control all connected), where there isn't an option to unshelve from source control.
This is how it looks like with a solution under source control opened.
Moral of the answer is to open any solution/project you may have that is under the source control which has the shelveset you want to unshelve.
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