camera tracking error

I have been experimenting with camera tracking and have encountered a problem. When I press the JOIN button in the TRACK dropdown I get an error which reads “some selected tracks have got keyframed markers to the same frame”. Does anyone know what this means and how to correct it. Also, are there any tutorials on this subject which explain how to track a moving object. Right now I am just kind of floundering around hoping to stumble onto something works. The tutorials I can find all pertain to having the camera move while it is pointing at a non-moving object. Any help would be greatly appreciated. Thanks