Having a "Lens error" message display on the camera's LCD display indicates a problem with the camera lens mechanism. This situation generally requires that the camera be sent to a Nikon Service Department for repair. Before doing this however, be sure to check these situations below:
1) One possible reason for this error is if the camera is switched on and the lens unit is prevented from extending. The camera will struggle for a second to extend the lens, then report the problem.
2) Inspect the lens for any obvious obstruction, then turn the camera off, then on again. Usually, simply switching the camera Off then On again is enough to correct this problem.
3) Remove and recharge the battery. Retest.
If the issue persists, you will have to contract technical support. There contact can be found at support.nikonusa.com