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Too broad of a question. You must elaborate a little more, but I'll try. If your check engine light is on, then it's probably a sensor like TPS (throttle position sensor) or MAP (manifold absolute pressure) or O2 (oxygen sensor). You would need someone to scan your ECM (computer) to find out which one.
If the engine hasn't been tuned up in a while, you may want to start there. A general tune up would consist of changing the spark plugs, spark plug wires, distributor cap and rotor (if applicable), air filter, PCV, and fuel filter. This is probably a good place to start if you can't remember the last time it was done.
You could probably take it to a shop like Pep Boy's or something. Some of these places will check it and give you an estimate for free. Then you could go off the estimate and do the work yourself.
One word of advice though... The Previa is a bit difficult to work on because of where the engine is. When you open the hood, all you're really looking at is the belt driven components like the alternator and power steering pump. Access to the engine is from underneath or through the doghouse (middle of the dashboard/console).
Another thing to try is turning on the air conditioner, if it has it. This should raise the idle a bit... it may help it enough to be able to drive it without stalling.
Good Luck.
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