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This may be similar to another solution posted. Try heavy duty batteries - I used ACDelco Super Alkaline, but any brand of "heavy duty" AA should work. Make sure battereis are not cold; low temp causes any battery to lose power. If fresh heavy duty batteries do not help, it may need professional service. (DO NOT try to force the lens back to retracted position - something WILL break.)
The lens has probably got something in the retraction mechanism that is stopping it retracting. This can be something as simple as sand or grit or as a result of a drop or knock. In most cases the camera will need to be stripped apart to remove the lens assy before it can be repaired. This is best left to a professional camera repair shop.
Lens errors are fairly common. Usually it's sand or grit interfering with the lens extension mechanism. Or the camera's been dropped with the lens extended. Or the camera has been powered on, but the lens had been blocked preventing its extension. Or the battery ran down with the lens extended ...
Here's some things that you can do to try to correct it. They only seem to work for less than 50% of the lens errors, but if the camera is out of warranty, they're worth a try:
Sorry to say but a lens error actually is a problem that you cannot fix at home. When a lens error occurs, the motors inside that make the lens retract and protract were some how damaged, usually caused if the lens try coming out when you have it in your pocket or against a surface so it cant fully come out. You will have to send the camera in for service and you can do that by calling 1-800-706-2534, option 1.