Why won't my cd player work in my Jeep?

It's a 2000 Jeep Grand Cherokee 4x4, and has the factory 10 disc changer still in it. I bought the truck in February and it hasn't worked since I bought it. I even bought one of the lens cleaners, but after doing that, I figured out that it is picking the disc up, but not spinning it, giving me an error message. Any ideas on how to fix this on my own???
 
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