Message reads 'check VSC' with engine light on?

"vehicle skid control". If "check engine" light is on , it will set the "vsc" light. Have all "engine" and "abs" codes pulled.

Just a guess, but sounds like you are losing a wheel speed sensor. Not sure that will turn on the check engine light, but will cause the other two to come on.

Hello and welcome to FixYa... the Engine light and VSC light will come on together when a fault code is stored in the computer
...the codes will need to be read to determine what caused it, based on that information, repairs needed can be taken to correct it...i hope this helps and good luck with the Lexus

Yes you can still drive it, and having the o2 sensor replaced should fix the problem.

Depending on the mileage 100K + miles, you may need to have the timing belt checked. either way have it checked out ASAP.

VSC = vehicle stability control.
Before take it to the shop,do few car wash to clean out dirt around the ABS sensors.
The problem is not under the hood.
One or more ABS/TCS is giving out of range reading to the computer.
Clean the wheels and try again.

You need to take it to Autozone and have it ran for test. There is something wrong. They will scan it for free.

Whenever the check engine light comes on it also turns on the trac and the vsc, if figures the trac and vsc can not operate properly if the engine is not running correctly, when check eng light turns off the rest will also, the first thing to do is have the computer scanned, there will be stored codes, these codes will tell you where the problem is, many auto part stores will scan it and give you the codes, if you get the codes i could help you further good luck.

the engine and vsc will come on with any engine control malfunction. best thing here is to get vehicle scanned to pinpoint the problem. the diag fee is well worth it.

go to autozone if you just want to find out what the code is or go to the dealer because your car is most likely under warranty and they will fix it for free. your warranty is 5yr/50k