Minimum requirements:
NetBackup versions (master, media, client).
Operating Systems involved (master, media, client).
Additional Info:
What are you trying to restore - database files? "normal" files?
Errors from logs or Job Details
Procedure followed resulting in "error"?
The phrase "Restore must be resumed prior to first image expiration on" is just part of a generic error code 5 for restores. The actual cause of these errors could be one of many reasons.
The more info you can supply the greater the likelihood we will be able to assist.