Toyayo,
It sounds like you don't have the DMU Kinematics workbench, and you don't have a simulation already defined.
Without Kinematics, you still have several options to simulate the telescoping column:
1. You can use the compass to move the parts within the column. Double-click the red dot of the compass to move the parts along the column axis and a specific distance
2. You could add a offset constraint between the parts in the column, and vary the offset distance to extend/contract the column
(If you do have DMU Kinematics and a simulation has been created, you could save the simulation as an .avi file, and play it back without DMU Kinematics)