you can always to a hard reset by going into phone settings , between what error code are you getting while performing the same ?
if you try to go back to stock old firmware you will lose many new features like glance screen , double tap to unlock and some nokia exclusive apps like nokia camera.
you can always flash your device via navifrim or software updater if you know your product code , but there are chances you might brick your phone while performing this process (backup all your data before doing a hard reset or flashing )