If the battery is charged, it could just be a bad connection at the battery or on the starter. My F150 did that twice and both times it was just the wire that went from the positive terminal to the starter. It made one loud click at the starter and thats it, everytime I tried it would only click once. Make sure connections are tight and corrosion free. I hope its that minor for you. I know replacing a starter would not be not on my wish list.