can't install ios 9.0.2

When I go to download and install the new ios, I hit install now, then enter my password, go to the next screen and agree to the terms, and it says "Verifying update...". Then all of a sudden I get a message that says "unable to install update; An error occurred installing iOS 9.0.2" I've tried doing a soft reset and that didn't work either. It gives me two options on that error message: either "Close" or "Settings" and settings just takes me back to the install screen, but now "install now" is grayed out. What can I do here?

Thanks!