My dynamic Stability Control Warning Light and yellow 'brake' warning lamp light

What is your question?

. . .light up continuously. The manual says it has something to do with the Dynamic Stability control on the car. Has anyone experienced this and what could be causing this? Also what kind of repair charges can I be looking at. It came on before but went out. It came on again about 40 miles later. Does not seem to impact the ride or braking but I just purchased the car so still getting familiar with the ride.