Sounds like your cable has stretched a bit and now the tension is off. There is a barrel adjuster where the cable comes into the rear derailleur. Turning this barrel too the right will increase the slack and turning it too the left will take up some slack.
Shift your gears to the middle of the cassette, then try turning the barrel 1/4 turn to the left, shift and see if it shifts into gear, if not shift back and adjust the tension again. Keep repeating till the gears line up.
if this does not work then it's time to take into a bike shop.
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