I was going to suggest Rule Machine for this before the poster above suggested the Lights on Motion Plus app that I wrote and use for almost all my lighting. 
(It would need small modifications since it doesn't support contact sensors and is designed to turn off and not reset to a previous level--but it does dim before turning off and saves the previous level for that purpose.)
In any case, if you aren't a coder and prefer to use native apps, this is definitely possible with Rule Machine. Someone can probably help you out by suggesting a rule to write (it's a bit daunting if you're new) if you do decide to go with Hubitat. RM lets you build arbitrarily complex logic to handle whatever situations and devices that Hubitat can control, so you could certainly make it do this--you'll see some examples in the thread I linked to, but again, you can build whatever logic you want.