Most likely your lens is stuck which is why the camera it telling you to turn it off and then on again hoping to clear the fault.
A stuck lens often points to a hard bang or drop. The other possibility is something sticky got onto the lens tube (soda or other surgery drink or food).
We don't do the service, all we do here is help guide you to either fixing your equipment if you feel you have the needed skills and tools or can guide you to the best place to get your equipment serviced.
In this case cameras are a bit tricky! I would recommend you locate the nearest Panasonic repair center by going here: Panasonic Support