There are a number of plug-ins for Audacity. Haven't used them myself. From what I've understood so far, there are two basic types, peak and full spectrum. The latter makes louder louder and quieter quieter but is also associated with what's called "breathing". Compression algorithms have gotten complex over the last couple decades. Restoring to origional is overly optimistic.
http://forum.audacityteam.org/index.php
http://forum.audacityteam.org/index.php