When I accelerated from a stop light, the esp/bas light came on today and is staying on, everything seems to be working ok...58000 km...is this something to be worried about or do I need to bring this in to the dealer asap?

 

Could be a speed sensor problem before you do anything else
try disconnecting the battery for a while as this will clear
the TIPM,this is possibly just and electrical glitch.

 

Disconnected battery, light is now out and has not come back on after a 5 km ride...thanks for the reply