If you are a do it yourself mechanic, the following link suggests a procedure, but otherwise car may need to be towed in for repair.
https://repairpal.com/check-engine-light-vsc-lights-872
SOURCE: Why is the vsc light check engine light and trac
to reset for a momentany malfuntion,disconnect the negative battery terminal few minutes, reconnect,start engine and drive to check
SOURCE: my check engine, VSC light and trac light are on
try to reset for a momentany failure, disconnect the negative battery terminal few minutes, then reconnect and start engine
SOURCE: TRAC OFF, VSC, and check engine lights are on in my 2004 Lexus ES
Often caused by a loose gas cap or fouled or failed air fuel O2 sensor. Check your gas cap is fully ratcheted, Drive a day or two. If lights don't clear you will need a code reader attached to the car to diagnose.
SOURCE: when starting my lexus GX 470 the vsc off light
The VSC on TRAC off lights will come on when there is an air fuel related issue.
If you have recently filled your tank, unscrew and tighten the gas cap till it clicks. The lights may need to be reset if they stay on after that. They will also be triggered by a fouled O2 sensor ins the engine or exhaust as well as a sticky throttle valve.
If a dealership resets the lights they can attach a code reader under dash to determine the cause in about 5 minutes.
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