Melt some resin core solder on your iron first. While making contact with the board, add more solder to make the joint release the wire.
Do not leave a hot iron on a joint for too long or you can fry some of the components near it.
Most important... do not let the solder splatter anywhere! When you apply heat to the solder, watch the solder and if it splatters anywhere, track every single piece of splatter down and get it off. If one tiny bit of solder splatter gets into a component, you will get an error message that will be impossible to troubleshoot. Ive already received a few customers drones and found solder splatter in bad places that was causing error messages.