I have a 2003 X5 with 30000 miles and the Brake, ABS, and DSC yellow lights came on. According to the Owners manual I am to take it to the dealer. I normally work on my own cars, and this is the first time I have had this issue and would like to know what it is and how to repair if at all possible, before taking it to the dealer. I will need to double check, but I think the foundation brakes such as the pads are OK as well as the brake fluild level. Any help is appreciated.

Thanks,