There are two types of problems that can cause the symptoms you see. One is a hardware problem - the lens has partially closed and got stuck in that position. Although your camera is a video camera and not a still-photo camera, the following link has some tips you can try:
Do It Yourself Digital Camera Repair: Fixing a Lens Error on a Digital Camera
If none of those tips fix your camera, the problem is likely a software problem inside the unit and you can't repair it yourself.
If it is still under warranty, you can send it in for repair. Look in your User's Manual for information on how to start a warranty repair.
If the unit is no longer under warranty, it will likely cost ~$100 (or more) to repair it which is about what the unit is worth, so you should simply replace it (buy a new one).