Yoroi supports 15 and 24 recovery phrase wallets, which means you can restore a Cardano wallet in Yoroi with this type of private key (recovery phrase).
The restore process is the same as restoring your Yoroi wallet.
Note: Yoroi doesn’t support multi-account wallets, therefore it might restore only the first account from your original wallet.
Bear in mind that you can have the same wallet opened/restored in Daedalus and Yoroi at a time. It means it is going to be two identical copies with identical private and public keys and associate addresses.
Here's how to restore a wallet.