Check Engine Light's will clear themselves over time if they aren't serious. If it's still there after several startups and maybe 50? miles then you should scan the code.
I had an issue with my iPod kit that was causing startup issues. At one point one morning it cause the CEL/VSC lights to show but I wouldn't be home until late that night. On the drive home that evening the CEL cleared itself.
So if it's bad it'll linger. If it was a one-off, it'll clear itself.