I started taking pics on my daughter's birthday function.. at the end of the function, my friend tried to take the camera from me but unforturnately it fell down. But we continued take pics and but after couple of minutes, It shows Lens error and the lens stucks and it doesnt go inside

Try repeatly turning on and off the unit by removing the battery each time the lens error screen pops up...that worked for me this summer when mine S210 got jammed with a sand particle. The next level is to get access to the front cover. That requires more knowledgethan I'm currently aware of as I've only removed the back cover and the LCD retainer plate. Tomorrow I'm going after the front cover and I'll let you know if I'm successful. The entire camera seems to be accessible with a small phillips head screwdriver and a lot of patience. Taking apart an S210 requires great peace of mind...don't go in until you're in a good space...