My ipod is stuck in recovery mode. How do i get out eithout restoring it?

it is 4g and verion 5.1.1 it got stuck while i was trying to restore it the first time. error 21 came up and i went to the apple website. that wasnt very helpful and it is still stuck in recovery. the apple directions to get it out were very confusing. Can anyone help (and please dont tell me to go back to the website)?

You will have to restore.
Error 20, 21, 23, 26, 28, 29, 34, 36, 37, 40
These errors typically occur when security software interferes with the restore and update process. FollowTroubleshooting security software issues to resolve this issue. In rare cases, these errors may be a hardware issue. If the errors persist on another computer, the device may need service.
As the above says, it could be a hardware problem and in that case it has to be replaced.

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