STOP ENGINE OIL PRESSURE SIGNAL came on, checked oil level it's normal.Drivable? on 2002 Volkswagen Passat

Some one told me it might just be the oil filter and a sensor. The oil does need changed. Nothing is leaking, smoking or smells like it is burning. Can I drive it to get the oil changed. I just want to know if I can drive it to get the oil changed and see if that is all the problem is. I can't afford to get it towed for something this simple. This is the first and only time it has happened. I keep a close eye on oil level, never uses much oil at all.

Asked by for the 2002 Volkswagen Passat