Code 10 is just a generic error meaning "the device cannot start".
However, for this particular device you can safely ignore it because 99% of Windows users will never need the teredo tunnelling adapter, trust me. If you needed it you would have more than just an error message to deal with, something wouldn't be working properly and I'm guessing everything works okay except for that error message -- right?
To suppress the error simply disable that device in Device Manager (right click the device and choose "Disable").
Then restart Windows and you're done with it.