IPhone 3GS stuck on "connect to itunes" screen

I've just reset my old iPhone 3GS so that I can use it as a PAYG phone for my dad. It cleared everything down ok and set itself up as a new clean iPhone install with the PAYG sim card and worked fine.  In iTunes I logged in to an account I set up for him and all was good - it found the phone, recognised it as my old one and gave me the option to set it up as a new one which I did, again all fine. 
Then I went to update the iOS to the latest version, but after it tried to to install it there was an error and the iPhone is now stuck on the "connect to itunes" screen. However, neither iTunes nor my PC will recognise the phone for me to restore it or do anything else with it.  I've tried the holding down the home button whilst connecting it to USB idea but no luck.
Any tips?

Sorry, I can't remember what the error was, I don't remember there being an error number. It was along the lines that iTunes had been unable to update the OS. I only noticed that the iphone had frozen after clicking OK.
The phone is stuck on the "connect to iTunes" screen. Even trying the restore options above, I don't get a red swipe and trying the alternatives still doesn't help. I've rebooted my computer and you can hear the USB recognising it's got a new item plugged in, but iTunes still won't find it.

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