Check engine light and traction control light are on with multiple codes

The car speed will lower when these lights come on. When I start the vehicle the RPM's can go has high as 3,000. I can turn the vehicle off wait a few minutes and restart and will run okay for a little while but then the check engine light will come on and then the traction control will kick in. We changed out the throttle body sensor and we are still having the same issues. We had the error codes read on the vehicle and we received the following codes:

P2176
P1516
P2176
P1516

Since we are going to change out the sensor, we are going to change out the throttle body. We are unclear on how to get the system to relearn or reprogram. Do I have to take it to a dealer for this the relearn process or ate there steps I can do at home when I change out the throttle body?