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The manual only says when Err starts blinking, press the shutter realise button again. If the error returns, please contact your Nikon service centre. It is a general malfunction of the camera. There is no such thing as a reset or reboot of the camera. I think you have tried all the obvious things like switching off the camera, removing the battery an checking if everything is in place and connected. and replace the battery. Did you check the connection points of the battery? Also in the camera. They have to be clean and shiny. don't clean the connection points with a sharp tool. Just a dry cloth or special contact oil. Have you tried a different lens? just to make sure the error is in the body. Sorry I can't think of more. But I'm afraid you only can contact Nikon.
I've also got a D90- nice camera. I only get the err message when the lens is not seated correctly or the f-stop ring is not set to the max. If you check the settings and assembly correctly and they seem OK, then the contacts may be dirty or faulty. If the indicator is blinking pre-shutter release, that may indicate the same issues. If you have another lense to try, that may be a good indicator of bad contacts or issues in the lense.
I don't know if there is a mirror lock up button on this camera or not. Some have it for slow exposes. Nikon does have a technical phone number or place on their website to contact them. I had a D100 that had the ERR message show up on it, and it cost $400 to repair. But look for the mirror lock button.
Basically, with certain types of lenses you need to set the aperture ring on the actual lens to its minimum setting (f22 or f32). Once it is set here, the camera can then control the aperture. It's covered on page 16 of the manual.