How to map the points of an elliptic curve cyclic group to $\mathbb{Z}_q$ using a hash function?

Question

Let $E$ be an elliptic curve defined over $\mathrm{GF}(q)$, where $q=p^r$. Let $G$ be a cyclic group of points of $E$. Then how we can map points of $G$ into $\mathbb{Z}_q$ using a hash function.