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I already tried posting this but I think it falied. Just in case, here it is again!
I just now fixed my own Nikon S220 (very similar to 210) which suffered the same fate as yours. However, I laid my camera down on a cushioned foot-rest (you could use a couch cushion or pillow on a table) with the lens facing UP, pressed down on both sides of lens front gently yet firmly, and BAM, the lens went back in all the way. I turned the power back on and the camera is good as new (except for the small dent from the fall of course).
I suggest you try this before spending $100 on repairs and/or buying a new camera!
The camera is very probably beyond economical repair (check your house hold insurance for accidental cover though) and I'd advise you to give it a good yank. You will find it sometimes clicks back into place. If its not covered under any insurance you have little to loose.
It worked. I just gently nudgged the extended(stuck) lens to one side by hand. (the side which had the gap.) There was a click sound and the lense housing fell back in place. Sweitched off and switched on again and the lense started working fine. thanks.