Error:

RMAN-06004: ORACLE error from recovery catalog database
RMAN-20207: UNTIL TIME or RECOVERY WINDOW is before RESETLOGS time

Step-by-Step Recovery to a Previous Incarnation

Step 1: Check the list of current and previous incarnation of databases

RMAN> LIST INCARNATION OF DATABASE;

Step 2: Reset the Incarnation to the Target One

RMAN> RESET DATABASE TO INCARNATION 2;

Step 3: Shutdown and Mount the Database

RMAN> SHUTDOWN IMMEDIATE;
RMAN> STARTUP MOUNT;

Step 4: Restore the Control File (if needed)

RMAN> RESTORE CONTROLFILE FROM AUTOBACKUP;
RMAN> ALTER DATABASE MOUNT;

Step 5: Restore and Recover the Database

RMAN> RESTORE DATABASE;
RMAN> RECOVER DATABASE;

Step 6: Open the Database with RESETLOGS

RMAN> ALTER DATABASE OPEN RESETLOGS;