If the light is yellow, it indicates sensor problems. you can drive to a dealer without problem. if the light is red, don't move it, tow it to a dealer.
Some Ford cars have the false yellow light problem after pumping gasline too full. the light is yellow and will be gone after you start and drive for a few miles for THREE TIMES. Our lab Ford car has this problem and I was scared on a business trip to Toronto.
Good luck!