If the gears are stripped, it will require an experienced tech to repair.
That being said, there should be a small switch near the lens mount to switch between auto and manual focus mode's, be sure that that switch is pointing to A. When set to M, the little screw recesses into the mount so it doesn't try to engage, when set to A, it'll extend very slightly.
Also, Nikon has manufactured two types of AF lenses - with the motor in the body and with the motor in the lens, as with most newer lenses. Your camera should have a small screw on the lens mount that drives the focus motor between the lens and the camera, but I'm not 100% certain on that. Your camera can focus lenses with and without this type of coupling. BUT, if that screw/motor in the body is not functioning, you'll only be able to use lenses which contain the focus motor inside them, or manual focus lenses (you can manually focus AF lenses too).
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