I had exactly the same problem with my 2002 Toyota Camry V6. Back during a 2010 snowstorm, just the Check Engine lamp came on. When I took it to Autozone, they 'pulled' the diagnostic code for me - it was the Bank 1 Sensor 1 Air / Fuel ratio sensor. However, when I left their parking lot, both the VSC and TRAC OFF lamps were lit.
Some of the other posters felt that the lights would go out, either on their own or when the sensor was replaced. I replaced the sensor and the VSC and TRAC OFF lamps were still lit. Bummer!
I saw somewhere on the web that the older Autozone tester can erase the zero point calibration data in the VSC computer. After a bit of research, I found a Toyota written procedure to recalibrate the VSC. Here's a link to it: http://www.toyotapartsandservice.com/pu
When I first tried the procedure, it didn't work at all, and I tried it several times. I was not able to zero out the old calibration data. Then, after some additional research, I discovered that the TS lead on the DLC-3 connector was located on pin 14, not on pin 12 as this document erroneously states (at least for my 2002 Camry).
When I followed the procedure using pin 14, it worked perfectly the very first time.
I sincerely hope that this information is helpful to others.