The transaction has been cleared on the blockchain
How did you know that? Did you query the corresponding transaction on an online blockchain explorer?
If you are happy to trust third party services (like the online blockchain explorer you had used), then generally speaking, (you believed that) you have already received these bitcoins.
You just have not validated the transaction with your own full node yet.
can i rescan to pick up the transaction. if so how do i do it?
Rescanning requires full blockchain data, the thing which you have not finished downloading and validating yet.
(In future versions of Bitcoin Core, this might be improved. With BIP158 blockfilterindex, even pruned full nodes can do rescanning as well)
Rescanning would be required only if you had just imported something, or you were not quite sure whether the available balances/transaction history showed by the wallet were correct.