Here's a very nice Gist that covers all the possible cases: https://gist.github.com/nepsilon/156387acf9e1e72d48fa35c4fabef0b4
Overview:
git rebase -i HEAD~X
# X is the number of commits to go back
# Move to the line of your commit, change pick into edit,
# then change your commit message:
git commit --amend
# Finish the rebase with:
git rebase --continue