As I put my camera on it comes up with a word "access" the lens go in and out and tells me to turn the power off and on again.

In general there seem to be a number of complaints about the lens not operating correctly on these otherwise wonderful little cameras. I would recommend following the suggestions already posted, starting with the safest and least invasive fixes. If non of these frees the lens, and it is still trying to emerge, or partially emerges, resulting in an "access" message or the "turn power off and on again" message then there is an extreme measure that worked for me.

Basically, I made a little flat wire horse shoe, or omega shaped clip about 3/4" (approx 2cm) in diameter. The little 'feet' of the omega protrude about 3/32" (approx 2mm).

With the battery fully charged and the camera facing the floor, the lens can be gently opened with a toothpick and the feet of the omega clip inserted so that the lens may be gently pulled out while simultaneously powering the camera on.

I suspect the problem in mine was debris keeping the lens from functioning properly. Accordingly, pointing the camera down while coaxing the lens out provides the best opportunity for the debris to fall out. As others have noted, a little compressed air, blown in around the lens as it is being coaxed out probably can't hurt and probably helps remove any dust or grit in the lens mechanism.

Coaxing the lens may have to be repeated a couple of times to restore original function.

As a precaution to help keep the problem from recurring, I've taken to storing the camera in a 4"X6" zip-lock bag.