A family of Microsoft spreadsheet software with tools for analyzing, charting, and communicating data.
Do you receive the error message only with Excel or in other Office applications too?
Does the issue occur with a particular Excel file or the error message occurs while opening any Excel files?
If the issue is with a particular file, do you have Pivot Table in that file?
Try to repair Office 2010 and check if it helps:
http://office.microsoft.com/en-us/word-help/repair-or-remove-office-2010-HA010357402.aspx