If you were saving your config on a tftp server, then you can recover your pre-shared key , because they are saved in clear text.
If you don't have that and you deleted part of your config, then you can just reboot the PIX .
If you unfortunately saved the bad config in the PIX , and you don't have a tftp copy of the old config , you can still go in each firewall and save the config on tftp to see the preshared key. But this will take as much time as creating a new one.