2005 Lexus RX 330 VSC Code

While driving, my check engine light and vsc code illuminated at the same time, what exactly are the immediate steps to take, besides the light bothering me, no other issues, car is running smooth, I'm consuming the same amount of fuel. I just don't want to go to a shop and get ripped off. What is the approximate price of repair. What are the needed parts to correct problem.
any information will be greatly appreciated.