Check Engine Light just turned on, and Automatic headlight leveling system on 2004 Lexus RX330

Should just take it for an engine diagnostic? What should be my first approach for both issues. I was driving, while on the road Automatic headlight leveling indicator on and a about 2 hours the Check Engine turned on, what should my first steps??? Frustrated!

Asked by for the 2004 Lexus RX330
...Get engine checked first....if it stops running on you , you won't really need to see where you're going!.....just a thought. As far as headlights go , you don't have the owners manual , do you?