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go here http://www.uesp.net/wiki/Skyrim:Lydia and write down her ref id and base id i cant remember which one it worked with then fo outside your home or just outside some where and try the console command placeatme "lydias id"with out the speech marks ...
If that doesn't fix it, you'll need to find out who your lost follower is, so you can lookup their id and move them to you.
You could also try console command:
where the value "0" would clear your follower count. (set playerfollowercount to 0).
Just be certain that the follower you had was not a quest follower, or that quest might get bugged. Look what quests you have started and if you had any followers assigned - like Farkas waiting for you in a designed destination.