In bookmark manager, I clicked on Import and Backup then pressed restore. No matter which date I chose, it gives same error.

you may have turned off the option to display the Bookmarks Toolbar. To turn it back on: Right-click on an empty section of the navigation bar and select Bookmarks Toolbar in the pop-up menu.

It was set to Always show. Also, there are no bookmarks in the bookmark manager.

If you use Sync then best is to disconnect Sync temporarily during troubleshooting.

This could be a problem with the places.sqlite and favicons.sqlite files in the Firefox profile folder.

• use the "Places Database" -> "Verify Integrity" button on the "Help -> More Troubleshooting Information" (about:support) page

If errors are reported with "Verify Integrity", close and restart Firefox or reboot and retry.

If "Verify Integrity" cannot repair places.sqlite, rename/remove all places.sqlite and favicons.sqlite files in the Firefox profile folder with Firefox closed. Firefox will rebuild places.sqlite and restore the bookmarks from the most recent JSON backup in the bookmarkbackups folder.

• keep a backup copy of places.sqlite in case a new places.sqlite database has to be created
• you lose the history when a new places.sqlite is created

You may have to restore an older bookmarks backup in the bookmarkbackups folder via the Bookmarks Manager (Library).

• Bookmarks -> Show All Bookmarks -> Import & Backup -> Restore
• https://support.mozilla.org/en-US/kb/restore-bookmarks-from-backup-or-move-them

See also:

• https://support.mozilla.org/en-US/kb/fix-bookmarks-and-history-will-not-be-functional
• https://support.mozilla.org/en-US/kb/cant-add-change-or-save-bookmarks

You can use the button on the "Help -> More Troubleshooting Information" (about:support) page to go to the current Firefox profile folder or use the about:profiles page (Root directory).

• Help -> More Troubleshooting Information -> Profile Folder/Directory:
  Windows: Open Folder; Linux: Open Directory; Mac: Show in Finder
• https://support.mozilla.org/en-US/kb/profiles-where-firefox-stores-user-data