Answer to "How to get iPhone out of recovery mode?"To fix your iPhone which stuck in recovery mode after iOS 10 update or jailbreak. In addition, your device may stuck in recovery mode due to iOS upgrade, iOS downgrade, iOS jailbreak and so on. Learn this use guide to get iPhone out of recovery mode without data loss,you don't need to factory reset your iPhone. Learn more: how to Fix Bricked iPhone
Answer to "How to get out of recovery mode after updating to iOS 9.2.1/9.3"The iTunes can help you get iPhone out recovery mode,but this way may cause data losing.I recommend you a iOS System Recovery tool to get iPhone out of recovery mode when iOS 10 updatewithout data loss. If you want to get out of recovery mode with iTunes,I recommend you should make sure you have backup your iPhone to computer,and install the latest version of iTunes on your computer.