autozone will scan it for free before you take it to the dealer. or pay a mechanic somewhere $5 to scan and read the code to you. thats what i do all the time. before you take it to the dealer make sure you know whats wrong with it or they will just rob you, but in your case your car still has warranty on it, why not let the dealer scan the code?

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2002 X5 3.0 Siena Red
Premium, Cold Weather, Rear Climate Packages, 19" Wheels
Aluminum Running Boards, Clear Tail Lights, Clear Side Markers
Titanium Kidney Grills, Titanium Trunk Lid, Xenon Headlights
4.6is X5 exhausts, 35% Tint, Aluminum Pedals
2005 530I Mystic Blue
Premium Package, Sport Package, Xenon Headlights
18" Sport Wheels, 35% Tint all around
Mods to come: M-Tech Front Bumper, M5 Side Skirts, M5 Rear Bumper
Quad Exhausts, Style 172 19" Wheels