ipod touch won't update or restore

I tried to update my iPod touch software, but after downloading the update, I was told there was an error (2006) and it could not be updated and needed to be restored. When I tried to restore it, it gave me another error message. Now I can't even use my iPod. After a hard reset, all I see is a screen telling me to connect to iTunes and the URL support.apple.com/ipod/restore. Anyone else had that problem? I'm not interested in sending it in for repair and paying $119 when I can't even figure out what the problem is.