If this is the first time you've received this error, please try that activity again and resume what you were doing before the error occurred. If you encounter the issue a second time, please exit Destiny and relaunch the game.
If you repeatedly encounter this issue, one final option to attempt a fix is to delete then reinstall Destiny from you console.
If reinstallation does not improve your experience, it may be due to damaged or malfunctioning hardware. Check to see if other games work properly, or contact Microsoft/Sony Customer Support for further information.
Microsoft Support: http://support.xbox.com
Sony Support: https://support.us.playstation.com