Light came on after doing work on car. Got this $20 code scanner / SRS reset tool from eBay. Here's the process that worked:

1. Plug in scanner

2. Turn key to position 2, not running but all dash lights lit.

3. Scan for codes - press Enter to show FA. Press Enter again to show which table references the codes in the manual. 10 means "reference table 10", which is the same as Table 40 per online research. Press Enter again to see the 1st code. Press Enter again to see next code. When it gets to -- it's done. Mine had code 5 for driver airbag. You can try to clear it but it did not work for me at this point. When the display shows FA press scroll to so it shows cA for "clear all". Press Enter to clear the codes.

4. Disconnect the negative battery terminal.

5. Unplug the airbag.

6. Plug the airbag back in and bolt it back on.

7. Reconnect battery.

8. Now do steps 1, 2, and 3. This time the airbag light should blink on/off for about 30 seconds, then stays off. That's how you know it's cleared. If the light blinks off/on then back on and stays on, code returned and you will have to fix the problem before the code clearing will work.

2001 X5 4.4 Sport