I am vitamin D defficient
I don't know if cartilage can be regenerated at all, with or without vitamin and mineral supplements.
But the Hosptial for Special Surgery in New York City has a whole Web page that talks about cartilage regeneration and treatment for joints where the cartilage is torn or otherwise damaged. It's not exactly the same kind of cartilage originally found in the joint, but another kind of cartilage that is often not as durable as the original kind and, thus, doesn't last as long or provide permanent pain relief.
Also note that all the treatments listed on the page that aid in the regeneration of cartilage are surgical.
Glucosamine sulfate, a supplement, has been shown to help joints (especially the knee) to build cartilage again. There's been a lot of debate about whether it actually works.
Dr. Grant Cooper on the site has written about glucosamine and some other supplements. Read his article for more information.