Hi @Minal Patel ,
Does this issue appear on all sites and all users? Have you configured AD FS?
Try to solve the error executing from powershell logged in the primary ADFS server the below command:
Set-AdfsProperties -EnableIdpInitiatedSignonPage $true
And make sure Claims to Windows Token Service is started in SharePoint server.
References:
What are potential reasons causing MSIS7012 error
ID3242: The security token could not be authenticated or authorized in sharepoint 2010 search
If the answer is helpful, please click "Accept Answer" and upvote it.
Note: Please follow the steps in our documentation to enable e-mail notifications if you want to receive the related email notification for this thread.