mechanical problem

So I recently started having a steering issue, unlike any issue I've had before. It only happens in incredibly low speeds (5 mph or lower), basically when I am pulling in/out of a parking space or turning into the driveway. My steering wheel will skip and jerk. It does this when I am stationary...

I first noticed a slight stumble at idle when stopping at a stop light. No check engine light. Thought I might have picked up some bad fuel or something. In a day or two the check engine light did come on, so a friend scoped it with his DIY gadget and it came up with a problem at the #2...