Passcode

You need the passcode to remove, or change, the passcode: as it's store only on the phone Apple don't know it and can't help you. The only way to reset the passcode is to erase the phone:

If you forgot the passcode for your iPhone, iPad, or iPod touch, or your device is disabled - Apple Support

Hopefully you have a backup made before the passcode was set, since restoring from a backup was made after the passcocde will set will restore the passcode and you will be right back where you started. However, since you can actually get into the phone you should download any vital data.

It isn't possible to reset your password with only your finger print. I would suggest trying to get as much data as you can off of the device, then resetting it through iTunes on your Mac. From there, you can transfer all your data back and reset the passcode.