Can't add computer to domain

I was trying to fix a problem with a computer that could not print.  The computer was attached to our domain but it was not able to connect to any network places.  I tried to remove the computer from the domain and then add it again but I got an error readin that the rpc server is unavailable.  I checked to make sure the rpc service was running and it was.  We ran a scan and removed a lot of trojan's on the machine.  I checked all the settings for his local area connection and they were correct but it still is not working.  
The computer is running XP and the server is 2003
Can you tell me what would cause this error?
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Hi dilonconsulting,

Kindly repeat the joining to the domain and then post the errors in the Event Viewer (Application and System).

(Do this in the Domain Controller) Also check in Active Directory Users and Computers if the Computer exists in the Computers container.

B Rgds,

open the file C:\windows\debug\netsetup.log file and locate the text in utmost bottom from client computer. You will come to knwo the clue.

Delete the computer account from AD
Wait for some time or do a force replication and try once.
dillonconsultingAuthor Commented:
Thanks for the suggestion but I fixed the problem after running a scan and restarting the computer

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