There is a quest::failtask(taskid) command. This will display the red task failed message and remove the task from the player's active tasks.
Although there is an 'Is Repeatable' column in the task table, this only prevents the player being offered the task again if they previously completed it.
To do what you want, i.e. not offer the player the task if they previously failed it, then you are probably going to have to use Quest Globals (QGlobals) to set a flag if they fail the task which you can check before you offer it them again.
I can't offer you any advice on QGlobals as I've never actually used them, but you could try searching the forums or the wiki for some examples on their use, or just post back if you can't figure it out and no doubt one of the quest gurus can offer some advice.
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