When I turn onto the VCR function so I can rewind or play a tape, it beeps. The eject button flashes and in the upper right hand corner flashes c:31.22. I am not able to do anything. Is there something I can do to be able to use the VCR function? I have tried other tapes and still have the same problem

That error means that something is out of alignment or stuck in the tape mechanism. You have two options: to have the camera inspected and repaired, OR if you don't want to do that and feel you don't have anything to lose do this:
Remove the tape.
Close the tape door completely.
Close the LCD.
Turn the camera off.
Remove the battery.
Give the camera a good firm smack or two on each side with the palm of your hand.
Power the camera up and try the tape again.

It sounds crazy, but doing that can possibly help unjam whatever mechanism is locked up.
This has worked for many people.
Hopefully it will take care of your situation too.

A version of the "smacking" solution worked for me when my Sony PC-110 would not 'present' the tape during eject. The transport mechanism lifted the from the camera body but would not open to allow access to remove or insert tapes and would retract after ~5 sec. This happened after the unit was not used for over a year. I took it to a local camera shop who charged me $35 to send it off for an estimate which took over a month and turned out to be ~$550 (I found out later that at that time Sony still manufactured the PC-110 and would service any problem for the flat rate of ~$525-this is no longer the case). I declined the repair due to it's high cost. I tried removing the battery when the transport was fully presented and 'thumping' it with my index finger but when I re installed the battery it still wouldn't open. I tried the same thing again and feeling I had nothing to lose gave it a real hard, finger hurting, thump square on the side of the transport.. It has worked perfectly ever since.