@walshm2177 , m walsh, If your camera just started doing this after replacing batteries, remove batteries and replace with a good quality set of new batteries and try. If the new batteries do not correct the issue, the lens may actually be stuck, requiring repair. Check the trouble shooting links below as they may help solve your issue. Good luck. I hope this helped you out, if so let me know by pressing the helpful button.
http://camerarepair.blogspot.ca/2007/12/fixing-lens-error-on-digital-camera.html
http://www.steves-digicams.com/knowledge-center/how-tos/troubleshooting-repair/troubleshoot-a-digital-camera-that-says-lens-error-on-screen.html#b
https://www.youtube.com/watch?v=AkEfnF6zVxc
https://www.nikonimgsupport.com/ni/NI_article?articleNo=000001648&configured=1&lang=en_US