I think you are looking for this?
use msdb
go
select backupmediafamily.physical_device_name,restorehistory.restore_date from restorehistory
inner join backupset
on restorehistory.backup_set_id = backupset.backup_set_id
inner join backupmediaset
on backupset.media_set_id = backupmediaset.media_set_id
inner join backupmediafamily
on backupmediaset.media_set_id = backupmediafamily.media_set_id