Toyota Repair: 2006 Avalon VSC light, factory warranty, toyota dealer

Question
I have a 2006 Avalon and only my VCS light has come on, but at the same time the Cruise Control stopped working.  When I try to use the Cruise Control, I get a red flashing light and an "E-3" error message on the dashboard.  Any ideas? Thanks.

Answer
The cruise control shuts off when there is a problem with the abs, trac/vsc system, so that needs to be addressed first, I need to know the diagnostic trouble codes stored in the computer in order to help, you can have the toyota dealer do this, the car may also still be under the factory warranty if it has less than 36,000 miles on it.