If the column is already an auto-increment primary key, just change its name and supply the data type. (MySQL will error if the data type isn't supplied here). The existing auto-increment and key definition will be retained.
ALTER TABLE `table_name` CHANGE COLUMN `old` `new` INT
If you are changing its name and making an auto-increment where there previously wasn't one, you need to specify the index or make it a primary key in the same statement:
ALTER TABLE `table_name` CHANGE COLUMN `old` `new` INT PRIMARY KEY AUTO_INCREMENT
Note however, that if you have another column on this table already serving as AUTO_INCREMENT
, then the error as reported is correct and you will not be able to specify a second AUTO_INCREMENT
column. You have to choose one or the other.