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The issue has lightly been caused due to you having been disconnected during the first time you attempted to load into the server.
Servers work on the following two identifiers: Discord or cfx license. If in fact the case is that you disconnected the first time you attempted to join and on the second try you received this error, it means that the server still thinks you are currently in the server, a pc restart and a bit of waiting time should resolve this.
If not, then there is a possibility that you and someone else with your cfx account (a friend likely), both attempt to join the game under the same credential, which is not allowed and thus you will receive this error.
This is possibly because the both of you are logged in on the same rockstar account which fivem uses to verify your license. Open Rockstar Games Launcher on both computers and log in with your own credentials (Him/her on their account and you on your account (2 separate accounts))