If you don't want to change your pattern you can use the Group Index and Length properties of a matched group.
var text = "example-123-example";
var pattern = @"-(\d+)-";
var regex = new RegEx(pattern);
var match = regex.Match(text);
var firstPart = text.Substring(0,match.Groups[1].Index);
var secondPart = text.Substring(match.Groups[1].Index + match.Groups[1].Length);
var fullReplace = firstPart + "AA" + secondPart;