Toyota Repair: 2006 avalon VSC light, diagnostic scanner, diagnostic fee

Question
Today, when I started the car coming out of the office, I got a check engine light and VSC light. the owner's manual says take to the dealer, but I'm not sure what the possible solutions might be.  The car drove smoothly home (about 35 miles).  it was icy on the way in this morning.  car has approx. 66000 miles, and I've had no other repairs (just tires, etc.) since i bought it.

Answer
You would have to get the trouble codes in the computer read with a diagnostic scanner, most repair shops or the toyota dealer can do this but they will charge a diagnostic fee of around $95.00, if you can locate an autozone store they may do this at no charge so check around with some of the autoparts chain stores or just have the dealer do it, the important part is that I need to know what codes are stored in the car's computer in order to be of any help, if the dealer(recommended) retreives the codes they will recommend a repair procedure. Keep in mind that the check engine light is the root cause of the problem, the abs/vsc light turns on only because the check engine light came on first, these traction control systems are disabled whenever the check engine light turns on so repairing the cause of the check engine light usually takes care of the abs/vsc lights as well.