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if the camera is still under warrenty bring it back. If not the best thing to do would be to try forcing the lense back in by hand i know this sounds distrucive but if theres no warrenty left it will not make a difference.
Defective mechanism, a stucked mechanism is present. camcorder are smart it can detects error and shuts down itself for safety. earlier models dominoes the defect if the user is not quick enough to react when something goes wrong with the camera. you need professional service to fix it.