iPod Touch stuck in recovery mode.

Okay, so its an iPod Touch 3rd Gen. I needed to restore it so I clicked restore (obviously). But during the restore it said unable to restore error 1611. And since then its been stuck in recovery mode. It no longer brings up that error it brings up error 21 and I can't resolve it. I've tried what it says on the Apple site about different things to do with security (error 21 is about the security program on your computer). I want to get it out of recovery but I can't, I have tried using different 3rd party softwares and different solutions on this site but nothing so far. So basically my question is HOW DO I GET IT OUT OF RECOVERY MODE? (Remember I can't restore it as iTunes won't let me!).