Do you think that L293D will also be able to drive the motors the same way backwards ,
No not exactly.
You need more electronics in your robot if that is to work.
You need to have a rotary encoder on each motor and record the number of pulses it gives you. Then when you play it back you need to make sure that you control the motor power such that you get the motors running at the right rate.
Basically you can not do what you want with the electronics you have.