Run this PowerShell command on the Secondary AD FS server that you want to make the Primary AD FS server.
Set-AdfsSyncProperties -Role PrimaryComputer
This will now move the Primary role to the server where the command was run. If you have two or more Secondary servers on the farm, you need to update the other Secondary servers.
Run this PowerShell command on the other Secondary AD FS server(s) so that they now sync with the new AD FS Primary server
Set-AdfsSyncProperties -Role SecondaryComputer -PrimaryComputerName <FQDN_ADFS_Primary>
Also, check this detailed MS article for more insight - https://itworldjd.wordpress.com/2014/10/22/how-to-move-a-secondary-adfs-to-primary/