You need an OBD-II scanner. Google will show a bunch of hits on that term. They're commonly available at most auto parts stores, Sears, or similar stores. If you don't want to buy one, many auto parts stores or maintenance places will pull the codes from your car for free (hoping you'll buy the repair parts or services from them). But if you're going to do much DIY auto maintenance on newer cars these days, you need to get your own scanner.
If yours is 2010, it's probably under warranty, so you may want to have the dealer pull the code and fix it.
Most scanners will not only pull the codes, but will also reset your check engine light. Of course, if the underlying cause isn't fixed, the light will probably come back on in awhile.