The camera may just be waiting for you to do something such as confirm a change etc. So you may just have to press OK to get out as well. If you use the up button to go to the previous menu level then try hitting the menu button to get back to camera mode. Depending on what sub menu you are you may need to use the left/right to unselect something then go up to get out.
If after a while you still can't escape. Turn the camera off. Then turn it back on. You should be back in camera mode. This should force it out of the menu you are in but you will or could loose setting changes you were making.
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