There is, but a lot depends on where you are on the MC curve, and what the differences are between the file paths in your library backup containing F: addresses, and their new homes on D:
If it had been me, I would have done like so... (assuming that the only change to the path was the drive letter)
Restored from the library backup. All files are now 'missing' because MC is looking for them on "F:"
Select all those files. (If you were unsure, start with just a few)
Right click on the selection and choose "Library Tools > Rename, Move and Copy Files"
The tool for this job now opens...
Preview of tool below, though note that my files are already on D:, so I simulated an update to F: so you could see what I am talking about...
From the top...
Set the drop menu to "Update library to point to a new location"
Uncheck filename
Uncheck dirctory
In "Find and replace"
Find F:
Replace with D:
After checking you're happy with the before/after preview, press OK.
Job done.
All values for play counts, date imported, last played, any library tags not saved in file tags... and playlists, are preserved from your old library.
Shout if you need any assistance with the above.
-marko