How to get to a same private key sharing new SegWit address transferred BTC back?

Recently someone generated a SegWit (bc1 ...) address from cold storage (paper) wallet private key.

Then a transaction broadcasted, I guess via Mycelium wallet. The blockchain explorer indicating transfer was made to 2 receivers. One of it is the Legacy address belonging to the same private key.

BTC is simply stolen and some portion is spent already. Since there are still some amount on the new wallet, obviously sharing same private key with my legacy address, is there any possibility to get coins back?

I am thinking like generating same public SegWit address from the private key, but no idea how to do it.

I am keen to put effort into this and so open to different approaches.

Thanks in advance.

​ submitted by /u/Nakasje
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