What happens when you press the Shutter button?
Does the message go away, or does it remain?
If it does, then either the lens cap sensor is faulty, or something is restricting the lens from moving (e.g. a grain of sand).
The message does not go away. Is there anything I can do or does it have to go to Panasonic repairs?
You can try attaching and removing the lens cap several times
This may help release the lens cap sensor if it is sticking.
If that does not help, then there is likely wrong with the lens mechanism - all it takes is a tiny grain of sand to cause this, and it is a common problem after a trip to the beach.
(a light breeze can easily carry sand upwards and into the camera's mechanisms)
The camera would need to be disassembled to clean or repair the lens mechanism, and this will need to be done by a repair centre.
You can contact Panasonic via these methods: http://www.panasonic.com/uk/contact-us.html