It seems like a lot of people on Samsung devices are getting this error incorrectly. Did you recently install an OTA (over the air) update for your device? Perhaps a recent update to JellyBean? For some reason, after an update, a lot of people are incorrectly receiving a "Modified device" error. It seems like the only viable solution to this is to take the phone to an authorized Samsung service location to have them re-flash Ice Cream Sandwich to your device. Once the newest version of Android is released for your device, you can then update to it, however keep in mind that this will likely cause the error to return.
You can always attempt to flash ICS to your device yourself, however if you are a beginner, I would advise against it.
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