I have same error sometimes and  I have to reboot.

$ sudo prime-select nvidia
Error: alternatives are not set up properly
Error: nvidia mode can't be enabled

Linux 3.13.0-24-generic
nvidia-prime 0.6.2
nvidia-331 331.38-0ubuntu7
Ubuntu 14.04
lightdm (1.10.0-0ubuntu3) trusty

$ lspci | grep VGA
00:02.0 VGA compatible controller: Intel Corporation 3rd Gen Core processor 
Graphics Controller (rev 09)
01:00.0 VGA compatible controller: NVIDIA Corporation GF117M [GeForce 
610M/710M/820M / GT 620M/625M/630M/720M] (rev ff)

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https://bugs.launchpad.net/bugs/1310023

Title:
  14.04: Nvidia Prime is unable to switch to the Nvidia card

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