Yes, you have to start over. 
However, someone here gave me the BEST advice that I’ll pass along. When you begin again, knit back and forth for like an inch or two before you join in the round. That way you will know your stitches aren’t twisted because you’ll be able to see that they are all laying flat. Then, when you’re finished, you can just sew that up with your tail. It is the best advice I ever received on this forum. It helped me SO much when I was knitting an infinity scarf that had 100s of stitches.
Good luck!