There is a lot of information on that error 20 on the internet, here is one thing to try:
Description: A malfunction with the mechanical mechanism has been detected.
Resolution: Turn the power off, then remove and re-install the battery. Then turn the power on again.
I would go one step more, when you have the battery out turn the camera on for about 30 seconds then turn it off, replace the battery and give it a try.
Most other solutions involve servicing of one sort or another.
"I actually took it to a shop about an hour away this morning and he said nothing was wrong with the camera itself and that it had to be in the lense."
And, the shop tried their lenses and it worked? Is the flash popping up OK? If it is slow or doesn't pop up it will trigger an error code.
If the shop had no problem when it used their lenses, that is not a good sign, Kido. WHat happened to your lenses?