Camera Lens stuck and won't go back in!

In 2013, my parents got me a camera and it worked very well. It was never dropped or anything but one day while taking pictures at a parade the pictures started to become blurry and later that night the lens wouldn't go back in. For the past few years I've read about simple fixes online but nothing has worked yet so I gave up on it after awhlie. Today I charged the battery up and put it back into the camera and I wanna try again.

The lens is fully out and when I hit the power button I hear a weird noise and see the first two parts of the lens attempt to move but the lens doesn't go back in. When the camera comes on a lens error message appears and shuts back down.

I would love to get my camera working again because lately I've gotten into taking pictures and the camera is pretty new. It messed up probably 6 or 7 months after getting it. We never bought a warranty for it. Any help appreciated.

Note: I have cleaned the camera up a bit since the pictures were taken. It's been sitting around awhile so it got a little dusty.