It depends on what kind of yucca it is. The more tropical species, such as Y. gloriosa can be fairly easy to do that with. The hard-bitten desert species are more difficult--it's rumored that it's impossible with Y. brevifolia. If you want to try, cut off about 1/2 to 2/3 of the green leaves; take a sharp saw and make a fresh, clean cut through the broken end, and immediately dust it with sulfur powder (and/or rooting hormone powder); let it dry for 2-3 days in the shade; then put 2-3 inches of the cut end into moist pumice, or a mixture of sand and perlite, holding up the stem with stakes. Keep the pumice moist, but not soggy, and, hopefully, the leaves will suddenly plump up, and the tip start to grow in a month or two. Wait another couple of months, then repot into a cactus mix or other fast draining potting mix.

Good luck,
Kevin : )