You just need to drag the object bar's floating window until it's over the side edge of the main window, or over the top toolbar area. Then place your mouse in a grey area in the object bar's window (i.e. not over a button) and cmd-double-click. It will return to its original place in the top toolbar area.
It doesn't seem to be possible to get it to redock directly to the side, so if you want it at the side, you'll have to redock it at the top first, and then cmd-drag it to the side.
For what it's worth, the Help says to use the control key for this, but generally speaking, where Ooo's Help says use the control key, try the command/apple key in NeoOffice/J - it's often the way...
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