|Switch the camera on.|
Now gently tap the camera body repeatedly against a hard but padded surface
until (hopefully) the lens motor springs into action and pushes the lens out.
If unsuccessful, or if the power light isn't even coming on when you press the power button, the camera will have to be returned for repairs.
However, since that model was introduced 4 or 5 years ago, it's likely it's warranty has expired so repairs will not be free. Get an estimate for the repair cost if you can because it might make more sense to buy a new camera instead.