When the CSRF token verification fails, users get the sessionfailure system message (There seems to be a problem with your login session; this action has been cancelled as a precaution against session hijacking. Go back to the previous page, reload that page and then try again.) Typically this happens on a form submit, causes form validation to fail and the form is displayed again, with a new CSRF token (and submitting again will work if the problem was a sessin timeout; otherwise, trying again wouldn't help anyway).
"Go back to the previous page and reload" is useless and confusing advice in most (if not all) cases; the user should just resubmit the form.