Any way to avoid Restoring phone when stuck in Recovery mode?

I connected to my PC to update my iPhone 4. It gave me a message saying "unknown error 21 occurred--could not update iPhone." Now it is stuck in recovery mode and I don't want to erase all my phone and start again. Somebody pleeeeeeeeeease help! Why is it doing this?

Thanks, guys, for taking the time to offer suggestions. After about 24 hours of frustration, rebooting, repeated attempts to Restore, and toggling back and forth between Run As Administrator, I was finally able to update, Restore, and I now have my phone back! I'm sure there is a simpler way to avoid these problems; maybe some day I'll learn them! Thanks

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