I was driving my 02 LC last night when my VSC and VSC OFF light came on. I proceeded to shut off the car and restarted thinking it would reset itself, but it didn't. Luckily I bought the service manual from EBAY and diagnose the problem by jumping terminal TC and E1 on the DLC1 (located on passenger side diagnostic port). Codes 36 (Yaw rate sensor zero calibration) and 39 (Deceleration sensor zero calibration) came up. According to the manual, you need to reset the 2 sensors first before you can calibrate it. Once I reset and recalibrated it, the lights went off and now it drives like a charm. No more ugly christmas lights anymore. This procedure was simple and took only 5 minutes to do. Dealers wanted $100 for diagnostic fee and probably a couple hundred to replace the yaw and deceleration sensor. Merry Christmas to all.