An Active directory domain controller could not be contacted
First check that the DNS record in the error does in fact exist. If not:
- Make sure the DC is using itself as its primary DNS server.
- Restart the netlogon service on the DC to re-register the SRV records.
Check the records now exist. If they do, ensure your client is using the DC as its primary DNS server and try to join again (but first run 'ipconfig /flushdns' to clear your DNS cache on the client)
Hope this helps.