I used RecBoot to get out of recovery mode after the iOS 7.0.6 update went wrong. It was stuck into a error loop where I could only see the 'connect to iTunes' screen, and then iTunes would not be able to restore (error 23).
Here is a link for RecBoot 2.0 (for Mac).
http://www.mediafire.com/download/uulxkxl0nt8ybun/RecBoot+2.zip
Google it if you need a Windows version. Beware, there are heaps of fake links out there so make sure it is RecBoot 2.0 you are downloading.
There are also plenty of youtube videos that will show you how to use it.