2007 Chrysler Aspen malfunction indicator light stays on

I didn't know what category to pick, so might of put wrong one. I start my car and the indicator lights usually do bulb check and then go off. But now the malfunction indicator one stays on and beeps once at me when car is started. What does this mean and what should I do? How much would you estimate for getting it fixed? Do I need to take it to dealer or can I take it to local car repair place?