You can use this code,
UIToolbar *toolBar= [[UIToolbar alloc] initWithFrame:CGRectMake(0,0,320,44)];
[toolBar setBarStyle:UIBarStyleBlackOpaque];
UIBarButtonItem *barButtonDone = [[UIBarButtonItem alloc] initWithTitle:@"Done"
style:UIBarButtonItemStyleBordered target:self action:@selector(changeDateFromLabel:)];
toolBar.items = @[barButtonDone];
barButtonDone.tintColor=[UIColor blackColor];
[pickerView addSubview:toolBar];
//(or)pickerView.inputAccessoryView = toolBar;
and set button action method for changeDateFromLabel:
-(void)changeDateFromLabel:(id)sender
{
[[your UI Element] resignFirstResponder];
}