How do I get the stored code for why the VSC light came on on my car? on 2006 Lexus IS250

It only comes on when driving long distances.
Thank you.

Asked by for the 2006 Lexus IS250
There is a 16 pin diagnostic socket under the driver's side of the dash, you need a scan tool to retrieve the codes stored, no way to retrieve codes without a scan tool.If the Check Engine light is also on a more generic scan tool may retrieve the codes stored
2 more answers
I don't know if you have a auto zone by you but take your car there and they will hook the machine to it for free and give you the code. If it is oxygen sensor change both sensors even though it may just give you one code. I know cause I had the same problem and one code came for one sensor but both was bad.
Doesn't the Check Engine Light come up with the VSC light?