We have a AC HD11 that is similar to the Cat D7. When this happened to us we put it in reverse, and slowly moved (going left and right, backwards) coaxing the tracks back into place. Worked perfect, and it was really offline when we started. Took about 5 minutes. A good piece of sucker rod to coax it over during this process will help. 2 person job if you use the sucker rod.
Best of Luck