Hello Rachel - Welcome to the Sony Forums

What may have happened is that you removed the DVD-R from the camera before the on screen prompt told you that it was safe to do so i.e. the camera was in the process of writing to the disc and removing it at this point has caused the disc data to be corrupted in some way.

Unfortunately, getting this data back is not 100% guaranteed and it is a reasonably specialised procedure which brings a price tag to match. There are quite a few DIY software products available, but from what I have heard you may end up needing to try a few and this can also end up expensive.

I would advise you to leave this to the professionals to ensure the best possible chance of being able to find your data. Having said that, I would shop around for the best possible price as you may have a local shop offering this service as well as online companies. There may be some other users who see this thread that have had a similar experience and therefore may have something else to add.

Thanks,

Simon