VSC light and check engine light on our Lexus?

Today, a warning showed up on our Lexus GS300 to "Check VSC." If I'm correct, the check engine light came on as well. We just got an oil change and our tires rotated a couple of weeks ago. We have to drive long distance this weekend so I want to know if it is safe to drive with those lights on and if there was any way to stop the lights from coming on. I wasn't sure if it was an easy fix or something we did wrong starting up the car or turning off the car. If not then any ideas of what is causing them to come on? Also, if we do have to take it into the shop any estimation on how long it would take to fix and how much it might cost? Any suggestions help! Thanks!