If the light is still flashing, set it down next to the Ultra and unplug the power from the Ultra for a few seconds to get it to restart. It should pair after the Ultra restarts. If it's not still flashing and it still isn't working, press and hold the pairing button until it starts flashing and then do the same thing.
Sitting on it must have pressed the pairing button, but it usually just pairs again automatically. You can also see pairing instructions here:
How to set up your Roku® voice remote | Official Roku Support
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