If your assignment has deadlines:
Yes, you can change your submission until the deadline for submission has passed. After the deadline has passed you are no longer able to change your submission.
To change your submission click on your class and then on the assignment you wish to change.
You can now delete the submission by clicking Delete Submission and upload a new one or click Change to edit the text or change the file.
If your assignment does not have deadlines:
You will need to contact your teacher and ask that you be 'restarted' in the assignment.
After you have been restarted you will need to remove your file or link and then upload or attach a new submission.