With an OBDII scanner, most auto parts stores will check the codes for free in hopes of selling you the necessary sensor that needs replaced.
You can often pull the codes yourself by doing the following;
Engine off, push and hold the odometer reset button.
Turn key to on (not start).
Turn key to off.
Release odometer reset button.
The trouble codes should appear in the odometer window. If the gauges sweep and the odometer counts from 9999999 to 0000000 then you released the odometer reset button too early and the gauges are doing a function check.